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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-29 14:12:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-29 14:12:50 +0200 |
| commit | 1b32ba2436848745e0a78c59fffa0a767cab9d3c (patch) | |
| tree | 6af6772f77f8c31db4efea95300c8264b02fab16 /src/modules/fw_pos_control_l1 | |
| parent | 252fc30ca7330dac224e087c2f91531c1d19842e (diff) | |
| download | px4-firmware-1b32ba2436848745e0a78c59fffa0a767cab9d3c.tar.gz px4-firmware-1b32ba2436848745e0a78c59fffa0a767cab9d3c.tar.bz2 px4-firmware-1b32ba2436848745e0a78c59fffa0a767cab9d3c.zip | |
Hotfix: Ensure that a minimum of 10 degrees pitch is set on takeoff
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 3 |
1 files changed, 2 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 d6d135f9f..3d5bce134 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 @@ -734,9 +734,10 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* apply minimum pitch and limit roll if target altitude is not within 10 meters */ if (altitude_error > 10.0f) { + /* 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), _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::radians(global_triplet.current.param1), + true, math::max(math::radians(global_triplet.current.param1), 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)); |