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fix bug if speed reach minium during ramp

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This commit is contained in:
Jin Chengde
2020-01-03 06:05:35 +00:00
committed by Daniel Agar
parent a986a63504
commit 57f3be3a69
1 changed files with 2 additions and 1 deletions
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src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.cpp
+2 -1
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@@ -78,7 +78,8 @@ void RunwayTakeoff::update(float airspeed, float alt_agl,
switch (_state) {
case RunwayTakeoffState::THROTTLE_RAMP:
if (hrt_elapsed_time(&_initialized_time) > _param_rwto_ramp_time.get() * 1e6f) {
if (hrt_elapsed_time(&_initialized_time) > _param_rwto_ramp_time.get() * 1e6f
|| airspeed > _param_fw_airspd_min.get() * _param_rwto_airspd_scl.get() * 0.9) {
_state = RunwayTakeoffState::CLAMPED_TO_RUNWAY;
}