From 545458a6872fd5f748a891c36900f0ab1e6a9140 Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Fri, 21 Apr 2017 13:34:43 +0200 Subject: [PATCH] Consider FW PSP in pitch limits (#7098) The FW_PSP_OFF parameter no longer breaches the pitch min/max limits --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 1013d77c3f..a55d89f470 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -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,