fly316/PX4-Autopilot
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sander 2016-07-24 00:18:01 +02:00 committed by Andreas Antener
parent ce3749d04f
commit 0ce08ed9f8
1 changed files with 5 additions and 2 deletions
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7
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -281,7 +281,7 @@ private:
float airspeed_trim;
float airspeed_max;
float airspeed_trans;
int airspeed_mode;
int airspeed_mode;
float pitch_limit_min;
float pitch_limit_max;
@ -2342,13 +2342,16 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
// we're in transition
if (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode) {
_was_in_transition = true;
// set this to transition airspeed to init tecs correctly
if(_parameters.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED){
if (_parameters.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED) {
// some vtols fly without airspeed sensor
_asp_after_transition = _parameters.airspeed_trans;
} else {
_asp_after_transition = _ctrl_state.airspeed;
}
_asp_after_transition = math::constrain(_asp_after_transition, _parameters.airspeed_min, _parameters.airspeed_max);
} else if (_was_in_transition) {