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flare pitch limit: apply at throttle lim altitude

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This commit is contained in:
Thomas Gubler
2014-09-21 10:46:46 +02:00
parent dbe35d64ca
commit 3e41945cc6
2 changed files with 3 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -1
View File
@@ -1018,7 +1018,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(_parameters.land_flare_pitch_min_deg),
math::radians(_parameters.land_flare_pitch_max_deg),
0.0f, throttle_max, throttle_land,
false, math::radians(_parameters.land_flare_pitch_min_deg),
false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
_global_pos.alt, ground_speed,
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+2
View File
@@ -419,6 +419,7 @@ PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
* Flare, minimum pitch
*
* Minimum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f);
@@ -427,6 +428,7 @@ PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f);
* Flare, maximum pitch
*
* Maximum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f);