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also use VT_LND_PITCH_MIN in NAVIGATION_STATE_DESCEND

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thomas
2022-11-29 14:16:22 +01:00
parent 749e0b6b73
commit 99e8338ab5
1 changed files with 3 additions and 2 deletions
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src/modules/vtol_att_control/vtol_type.cpp
+3 -2
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@@ -379,8 +379,9 @@ float VtolType::pusher_assist()
float pitch_setpoint_min = math::radians(_param_vt_pitch_min.get());
if (_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if ((_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND)
|| _attc->get_vehicle_status()->nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND) {
pitch_setpoint_min = math::radians(
_param_vt_lnd_pitch_min.get()); // set min pitch during LAND (usually lower to generate less lift)
}