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Consider FW PSP in pitch limits (#7098)

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The FW_PSP_OFF parameter no longer breaches the pitch min/max limits
This commit is contained in:
Sander Smeets
2017-04-21 13:34:43 +02:00
committed by GitHub
parent 1843061376
commit 545458a687
1 changed files with 4 additions and 4 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+4 -4
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@@ -1235,8 +1235,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
tecs_update_pitch_throttle(pos_sp_curr.alt,
calculate_target_airspeed(mission_airspeed),
radians(_parameters.pitch_limit_min),
radians(_parameters.pitch_limit_max),
radians(_parameters.pitch_limit_min) - _parameters.pitchsp_offset_rad,
radians(_parameters.pitch_limit_max) - _parameters.pitchsp_offset_rad,
_parameters.throttle_min,
_parameters.throttle_max,
mission_throttle,
@@ -1271,8 +1271,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
tecs_update_pitch_throttle(alt_sp,
calculate_target_airspeed(mission_airspeed),
radians(_parameters.pitch_limit_min),
radians(_parameters.pitch_limit_max),
radians(_parameters.pitch_limit_min) - _parameters.pitchsp_offset_rad,
radians(_parameters.pitch_limit_max) - _parameters.pitchsp_offset_rad,
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,