From 4e648734fa773ddeaebd59056f32cdfa19c5b657 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 27 Dec 2020 19:13:30 +1100 Subject: [PATCH] Plane: Fix takeoff pitch for hand launch --- ArduPlane/takeoff.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp index b50b940888..0b4378906b 100644 --- a/ArduPlane/takeoff.cpp +++ b/ArduPlane/takeoff.cpp @@ -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;