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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-21 10:46:46 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-21 10:46:46 +0200 |
| commit | 3e41945cc6b43e91d08082b1ce976d5382e0405a (patch) | |
| tree | e68b94bcd184a7d6b9e34f0f96022c5d1c3d8c56 /src/modules/fw_pos_control_l1 | |
| parent | dbe35d64ca4288de551ec11b4d5bff43650e8012 (diff) | |
| download | px4-firmware-3e41945cc6b43e91d08082b1ce976d5382e0405a.tar.gz px4-firmware-3e41945cc6b43e91d08082b1ce976d5382e0405a.tar.bz2 px4-firmware-3e41945cc6b43e91d08082b1ce976d5382e0405a.zip | |
flare pitch limit: apply at throttle lim altitude
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 |
2 files changed, 3 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 c0c238ba9..77eb78097 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 @@ -1018,7 +1018,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi math::radians(_parameters.land_flare_pitch_min_deg), math::radians(_parameters.land_flare_pitch_max_deg), 0.0f, throttle_max, throttle_land, - false, math::radians(_parameters.land_flare_pitch_min_deg), + false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed, land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index f2e8c422f..859cef8bd 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -419,6 +419,7 @@ PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); * Flare, minimum pitch * * Minimum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached * */ PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f); @@ -427,6 +428,7 @@ PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f); * Flare, maximum pitch * * Maximum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached * */ PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f); |