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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 13:41:39 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 13:41:39 +0100 |
| commit | 546964332d5eb3c9e402e39a136fc6c6994c00f6 (patch) | |
| tree | 155a1360ce829b0811ead145cc258f7fa562d202 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | b7652986d9cc0fe3edc765e3485b696b4b639b03 (diff) | |
| download | px4-firmware-546964332d5eb3c9e402e39a136fc6c6994c00f6.tar.gz px4-firmware-546964332d5eb3c9e402e39a136fc6c6994c00f6.tar.bz2 px4-firmware-546964332d5eb3c9e402e39a136fc6c6994c00f6.zip | |
use minimal pitch field introduced in b7652986d9cc0fe3edc765e3485b696b4b639b03 for fw takeoff
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 | 2 |
1 files changed, 1 insertions, 1 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 cdd41d16a..eb84c49d1 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 @@ -961,7 +961,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min), _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(mission_item_triplet.current.radius), math::radians(10.0f)), + true, math::max(math::radians(mission_item_triplet.current.pitch_min), math::radians(10.0f)), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); |