Plane: Use accurate roll limits if airspd. sensor #29843
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In general limiting to 0 is a bad idea because it will result in no navigation and thus a flyaway. We use |
Makes sense, I remember thinking of using that but I ended up forgetting about it. Since that would imply that the aircraft must be able to maintain flight at a bank angle of LEVEL_ROLL_LIMIT when flying at AIRSPEED_STALL, should that perhaps be included somewhere in the documentation/param. description? |
Aerodynamic load factor-based roll demand limits were only applied down to ±25º to keep the aircraft maneuverable with a bad airspeed estimate. However, with the addition of the AIRSPEED_STALL parameter, this is unsafe if the aircraft is actually flying very close to its stall speed, and can result in a spin. This commit makes it possible for the roll demand limits to go all the way down to 0º if an airspeed sensor is fitted and in use and the AIRSPEED_STALL parameter is set, as under these conditions, the airspeed estimate is accurate and there is very little bank angle overhead to prevent a stall.
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Aerodynamic load factor-based roll demand limits were only applied down to ±25º to keep the aircraft maneuverable with a bad airspeed estimate. However, with the addition of the AIRSPEED_STALL parameter, this is unsafe if the aircraft is actually flying very close to its stall speed, and can result in a spin (this has actually happened to us in a real flight flying with a bit of wind and turbulence with the airspeed target set to AIRSPEED_MIN).
This PR makes it possible for the roll demand limits to go all the way down to 0º if an airspeed sensor is fitted and in use and the AIRSPEED_STALL parameter is set, as under these conditions, the airspeed estimate is accurate and there is very little bank angle overhead to prevent a stall.