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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-02 18:28:18 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-02 18:28:18 +0200 |
| commit | eb02c6ce4900a3dfe96592219852b2205c5d691d (patch) | |
| tree | 73636e1de29127cd0a67b213c775a7ec00356db6 | |
| parent | fecbebc5a6f1b6b1944c4a38278f3eb53358f836 (diff) | |
| download | px4-firmware-eb02c6ce4900a3dfe96592219852b2205c5d691d.tar.gz px4-firmware-eb02c6ce4900a3dfe96592219852b2205c5d691d.tar.bz2 px4-firmware-eb02c6ce4900a3dfe96592219852b2205c5d691d.zip | |
mtecs: disable underspeed mode in takeoff mode (as the comment says)
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 3de51695e..32f9f19ca 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -185,8 +185,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } - /* Check airspeed: if below safe value switch to underspeed mode (if not in takeoff mode) */ - if (mode != TECS_MODE_LAND && airspeed < _airspeedMin.get()) { + /* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */ + if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeed < _airspeedMin.get()) { mode = TECS_MODE_UNDERSPEED; } |