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Hotfix: Ensure that a minimum of 10 degrees pitch is set on takeoff

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Lorenz Meier
2013-09-29 14:12:50 +02:00
parent 252fc30ca7
commit 1b32ba2436
1 changed files with 2 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -1
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@@ -734,9 +734,10 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */ /* apply minimum pitch and limit roll if target altitude is not within 10 meters */
if (altitude_error > 10.0f) { if (altitude_error > 10.0f) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min), _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas, _airspeed.indicated_airspeed_m_s, eas2tas,
true, math::radians(global_triplet.current.param1), true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));