Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Don't lower nose when hand launching

Browse Source
This commit is contained in:
Paul Riseborough 2020-06-13 08:28:29 +10:00 committed by Andrew Tridgell
parent d1d790019c
commit 82f68464d4
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/takeoff.cpp
View File

@ -168,8 +168,14 @@ void Plane::takeoff_calc_pitch(void)
nav_pitch_cd = takeoff_pitch_min_cd;
}
} else {
nav_pitch_cd = ((gps.ground_speed()*100) / (float)aparm.airspeed_cruise_cm) * auto_state.takeoff_pitch_cd;
nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, auto_state.takeoff_pitch_cd);
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);
} 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;
nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, auto_state.takeoff_pitch_cd);
}
}
if (aparm.stall_prevention != 0) {