From 951f89c8a8127114d40d5593e4027fcf0acad9fc Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 10 May 2023 10:38:57 +0200 Subject: [PATCH] FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index a4ac6e729c..33f65d2090 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -1466,7 +1466,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo tecs_update_pitch_throttle(control_interval, altitude_setpoint_amsl, target_airspeed, - radians(_param_fw_p_lim_min.get()), + radians(_takeoff_pitch_min.get()), radians(_param_fw_p_lim_max.get()), _param_fw_thr_min.get(), max_takeoff_throttle,