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AP_TECS: fixed flare pitch limits

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when limits are out of bounds
This commit is contained in:
Andrew Tridgell 2019-04-10 13:45:27 +10:00
parent d72ded4a9e
commit 3c8ed3d8e1
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_TECS/AP_TECS.cpp
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@ -1020,7 +1020,8 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// and use max pitch from TECS_LAND_PMAX
if (_land_pitch_max != 0) {
_PITCHmaxf = MIN(_PITCHmaxf, _land_pitch_max);
// note that this allows a flare pitch outside the normal TECS auto limits
_PITCHmaxf = _land_pitch_max;
}
// and allow zero throttle
@ -1058,6 +1059,9 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
_PITCHmaxf = radians(_PITCHmaxf);
_PITCHminf = radians(_PITCHminf);
// don't allow max pitch to go below min pitch
_PITCHmaxf = MAX(_PITCHmaxf, _PITCHminf);
// initialise selected states and variables if DT > 1 second or in climbout
_initialise_states(ptchMinCO_cd, hgt_afe);