From eb02c6ce4900a3dfe96592219852b2205c5d691d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 2 Jun 2014 18:28:18 +0200 Subject: mtecs: disable underspeed mode in takeoff mode (as the comment says) --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 3de51695e..32f9f19ca 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -185,8 +185,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } - /* Check airspeed: if below safe value switch to underspeed mode (if not in takeoff mode) */ - if (mode != TECS_MODE_LAND && airspeed < _airspeedMin.get()) { + /* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */ + if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeed < _airspeedMin.get()) { mode = TECS_MODE_UNDERSPEED; } -- cgit v1.2.3