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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 17:03:03 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 17:03:03 +0200 |
| commit | c17c585c3e977688ad5ff64812fd499c0410f2da (patch) | |
| tree | e7dba9008b1c86dae0406c41fb5ff9f75b15b3aa /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 593df0ae12e0a255c1291dedf914482b4f1da496 (diff) | |
| parent | ab022d51338c30207379048c913715a0b8d601c3 (diff) | |
| download | px4-firmware-c17c585c3e977688ad5ff64812fd499c0410f2da.tar.gz px4-firmware-c17c585c3e977688ad5ff64812fd499c0410f2da.tar.bz2 px4-firmware-c17c585c3e977688ad5ff64812fd499c0410f2da.zip | |
Merge pull request #1335 from PX4/landingtecsunderspeed
disable underspeed protection when landing also in tecs
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 350ce6dec..522f5caca 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1380,6 +1380,9 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ _mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode, limitOverride); } else { + /* No underspeed protection in landing mode */ + _tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM)); + /* Using tecs library */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp, _airspeed.indicated_airspeed_m_s, eas2tas, |