Query on Speed Scaling (Attitude.cpp)

@Andrew_Rabbitt wrote:

With the speed scaler (scalar…?) in Attitude.cpp, it is limited to a calculated max and min threshold with the following code:

    // ensure we have scaling over the full configured airspeed
    float scale_min = MIN(0.5, (0.5 * aparm.airspeed_min) / g.scaling_speed);
    float scale_max = MAX(2.0, (1.5 * aparm.airspeed_max) / g.scaling_speed);
    speed_scaler = constrain_float(speed_scaler, scale_min, scale_max);

Given that speed scaler/ar is calculated by:

        speed_scaler = g.scaling_speed / aspeed;

should not the max and min values be calculated the same way? i.e.:

    float scale_min = MIN(0.5, (g.scaling_speed / (1.5 * aparm.airspeed_max)));
    float scale_max = MAX(2.0, (g.scaling_speed / (0.5 * aparm.airspeed_min)));

Also, given that one can fly a quadplane in hover mode in FBWA mode (for example), shouldn’t we also have an assisted_flight test for this code along side the vtol mode test?:

    if (quadplane.in_vtol_mode() && hal.util->get_soft_armed()) {
        // when in VTOL modes limit surface movement at low speed to prevent instability

Just asking for a friend…

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