diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 11:02:41 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 11:02:41 +0100 |
| commit | 881c89dd1b55f5e2dbb355562665a94dcc618217 (patch) | |
| tree | 0ff8d28839f4004af43b0854bd3a720081adbba2 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 0611b26eeace29a366247026534872c714abd76d (diff) | |
| download | px4-firmware-881c89dd1b55f5e2dbb355562665a94dcc618217.tar.gz px4-firmware-881c89dd1b55f5e2dbb355562665a94dcc618217.tar.bz2 px4-firmware-881c89dd1b55f5e2dbb355562665a94dcc618217.zip | |
increase safety margin for takeoff speed
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 bfdca9cce..2b1c01c83 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 @@ -972,7 +972,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio if (altitude_error > 15.0f) { /* 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(1.3f*_parameters.airspeed_min), _airspeed.indicated_airspeed_m_s, eas2tas, true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, |