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mtecs: disable underspeed mode in takeoff mode (as the comment says)

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Thomas Gubler
2014-06-02 18:28:18 +02:00
parent fecbebc5a6
commit eb02c6ce49
1 changed files with 2 additions and 2 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+2 -2
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@@ -185,8 +185,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
(double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2);
} }
/* Check airspeed: if below safe value switch to underspeed mode (if not in takeoff mode) */ /* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
if (mode != TECS_MODE_LAND && airspeed < _airspeedMin.get()) { if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeed < _airspeedMin.get()) {
mode = TECS_MODE_UNDERSPEED; mode = TECS_MODE_UNDERSPEED;
} }