diff options
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 | 30 |
1 files changed, 22 insertions, 8 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 20f3fefcd..95165ecaa 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 @@ -1047,11 +1047,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi altitude_desired_rel = math::max(relative_alt, L_altitude_rel); } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + calculate_target_airspeed(airspeed_approach), eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), _pos_sp_triplet.current.alt + relative_alt, - false, math::radians(_parameters.pitch_limit_min), ground_speed); + ground_speed); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -1107,10 +1113,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); } else { - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, + calculate_target_airspeed(_parameters.airspeed_trim), + eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _global_pos.alt, + ground_speed); } } else { |