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speed limitation during auto-takoff: remove from legacy and add to FlightTask

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent dcdbdbd8eb
commit 2017e394b3
1 changed files with 4 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
+4 -2
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@@ -130,8 +130,10 @@ void FlightTaskAutoLine::_generateTakeoffSetpoints()
_position_setpoint = _target;
_velocity_setpoint = Vector3f(NAN, NAN, NAN);
// set constraints
_constraints.speed_up = MPC_TKO_SPEED.get();
// limit vertical speed during takeoff
_constraints.speed_up = math::gradual(_alt_above_ground, MPC_LAND_ALT2.get(),
MPC_LAND_ALT1.get(), MPC_TKO_SPEED.get(), _constraints.speed_up);
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
}