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AP_TECS: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG

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This commit is contained in:
Andrew Tridgell 2024-01-19 12:50:35 +11:00
parent 93c4b75a60
commit 7d5685c55f
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_TECS/AP_TECS.cpp
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@ -1249,15 +1249,15 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// LIM_PITCH_{MAX,MIN}. Don't allow TECS_PITCH_{MAX,MIN} to be // LIM_PITCH_{MAX,MIN}. Don't allow TECS_PITCH_{MAX,MIN} to be
// larger than LIM_PITCH_{MAX,MIN} // larger than LIM_PITCH_{MAX,MIN}
if (_pitch_max == 0) { if (_pitch_max == 0) {
_PITCHmaxf = aparm.pitch_limit_max_cd * 0.01f; _PITCHmaxf = aparm.pitch_limit_max;
} else { } else {
_PITCHmaxf = MIN(_pitch_max, aparm.pitch_limit_max_cd * 0.01f); _PITCHmaxf = MIN(_pitch_max, aparm.pitch_limit_max);
} }
if (_pitch_min >= 0) { if (_pitch_min >= 0) {
_PITCHminf = aparm.pitch_limit_min_cd * 0.01f; _PITCHminf = aparm.pitch_limit_min;
} else { } else {
_PITCHminf = MAX(_pitch_min, aparm.pitch_limit_min_cd * 0.01f); _PITCHminf = MAX(_pitch_min, aparm.pitch_limit_min);
} }
// apply temporary pitch limit and clear // apply temporary pitch limit and clear
@ -1297,7 +1297,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// and allow zero throttle // and allow zero throttle
_THRminf = 0; _THRminf = 0;
} else if (_landing.is_on_approach()) { } else if (_landing.is_on_approach()) {
_PITCHminf = MAX(_PITCHminf, 0.01f * aparm.pitch_limit_min_cd); _PITCHminf = MAX(_PITCHminf, aparm.pitch_limit_min);
_pitch_min_at_flare_entry = _PITCHminf; _pitch_min_at_flare_entry = _PITCHminf;
_flare_initialised = false; _flare_initialised = false;
} else { } else {