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FW Position Control: keep flaps in landing config during abort if below AIRSPD_MIN (#23877)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-02-20 09:28:27 +01:00
committed by GitHub
parent 29317d90c3
commit 24da87db12
1 changed files with 8 additions and 0 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+8
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@@ -1316,7 +1316,15 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
} else {
// continue straight until vehicle has sufficient altitude
// keep flaps in landing configuration if the airspeed is below the min airspeed (keep deployed if airspeed not valid)
roll_body = 0.0f;
if (!_airspeed_valid || _airspeed_eas < _performance_model.getMinimumCalibratedAirspeed()) {
_flaps_setpoint = _param_fw_flaps_lnd_scl.get();
} else {
_flaps_setpoint = 0.f;
}
}
is_low_height = true; // In low-height flight, TECS will control altitude tighter