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Plane: fixed TECS takeoff detection

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Andrew Tridgell 2013-06-28 17:12:35 +10:00
parent 68232a10f9
commit 6c7d160ee6
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/ArduPlane.pde
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@ -1234,7 +1234,8 @@ static void update_alt()
// Update the speed & height controller states // Update the speed & height controller states
if (g.alt_control_algorithm == ALT_CONTROL_TECS) { if (g.alt_control_algorithm == ALT_CONTROL_TECS) {
SpdHgt_Controller->update_pitch_throttle(target_altitude_cm - home.alt, target_airspeed_cm, SpdHgt_Controller->update_pitch_throttle(target_altitude_cm - home.alt, target_airspeed_cm,
nav_command_ID == MAV_CMD_NAV_TAKEOFF, takeoff_pitch_cd); (control_mode==AUTO && takeoff_complete == false),
takeoff_pitch_cd);
if (g.log_bitmask & MASK_LOG_TECS) { if (g.log_bitmask & MASK_LOG_TECS) {
Log_Write_TECS_Tuning(); Log_Write_TECS_Tuning();
} }