From 546964332d5eb3c9e402e39a136fc6c6994c00f6 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 23 Dec 2013 13:41:39 +0100 Subject: [PATCH] use minimal pitch field introduced in b7652986d9cc0fe3edc765e3485b696b4b639b03 for fw takeoff --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 cdd41d16a2..eb84c49d1a 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 @@ -961,7 +961,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min), _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(mission_item_triplet.current.radius), math::radians(10.0f)), + true, math::max(math::radians(mission_item_triplet.current.pitch_min), math::radians(10.0f)), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));