Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: Fix takeoff pitch for hand launch

This commit is contained in:
Paul Riseborough 2020-12-27 19:13:30 +11:00 committed by Andrew Tridgell
parent 39e1eb238d
commit 4e648734fa
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/takeoff.cpp
View File

@ -169,8 +169,8 @@ void Plane::takeoff_calc_pitch(void)
}
} else {
if (is_positive(g.takeoff_throttle_min_speed) || is_positive(g.takeoff_throttle_min_accel)) {
// Doing hand launch so don't lower pitch when low ground speed
nav_pitch_cd = MIN(auto_state.takeoff_pitch_cd, 500);
// Doing hand launch so need at least 5 deg pitch to prevent initial height loss
nav_pitch_cd = MAX(auto_state.takeoff_pitch_cd, 500);
} else {
// Rise off ground takeoff so delay rotation until ground speed indicates adequate airspeed
nav_pitch_cd = ((gps.ground_speed()*100) / (float)aparm.airspeed_cruise_cm) * auto_state.takeoff_pitch_cd;