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AP_TECS: Allow tecs to control throttle during takeoff

This commit is contained in:
Michael du Breuil 2015-04-15 15:52:29 -07:00 committed by Andrew Tridgell
parent a9fc2b8a32
commit 04e9141881
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_TECS/AP_TECS.cpp
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@ -586,11 +586,7 @@ void AP_TECS::_update_throttle_option(int16_t throttle_nudge)
nomThr = (aparm.throttle_cruise + throttle_nudge)* 0.01f;
}
if (_flight_stage == AP_TECS::FLIGHT_TAKEOFF)
{
_throttle_dem = _THRmaxf;
}
else if (_pitch_dem > 0.0f && _PITCHmaxf > 0.0f)
if (_pitch_dem > 0.0f && _PITCHmaxf > 0.0f)
{
_throttle_dem = nomThr + (_THRmaxf - nomThr) * _pitch_dem / _PITCHmaxf;
}
@ -751,7 +747,6 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
else if (_flight_stage == AP_TECS::FLIGHT_TAKEOFF)
{
_PITCHminf = 0.000174533f * ptchMinCO_cd;
_THRminf = _THRmaxf - 0.01f;
_hgt_dem_adj_last = hgt_afe;
_hgt_dem_adj = _hgt_dem_adj_last;
_hgt_dem_prev = _hgt_dem_adj_last;
@ -789,7 +784,11 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// Convert inputs
_hgt_dem = hgt_dem_cm * 0.01f;
_EAS_dem = EAS_dem_cm * 0.01f;
_THRmaxf = aparm.throttle_max * 0.01f;
if (_flight_stage == AP_TECS::FLIGHT_TAKEOFF && aparm.takeoff_throttle_max != 0) {
_THRmaxf = aparm.takeoff_throttle_max * 0.01f;
} else {
_THRmaxf = aparm.throttle_max * 0.01f;
}
_THRminf = aparm.throttle_min * 0.01f;
// work out the maximum and minimum pitch