Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_TECS: Don't fetch the land slewrate if it's not needed

Browse Source 
Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>
This commit is contained in:
Tom Pittenger 2020-07-17 13:28:46 -07:00
parent bbe01adc7e
commit 8ae34a1977
1 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_TECS/AP_TECS.cpp
View File

@ -700,10 +700,11 @@ void AP_TECS::_update_throttle_with_airspeed(void)
// Rate limit PD + FF throttle // Rate limit PD + FF throttle
// Calculate the throttle increment from the specified slew time // Calculate the throttle increment from the specified slew time
int8_t throttle_slewrate = aparm.throttle_slewrate; int8_t throttle_slewrate = aparm.throttle_slewrate;
int8_t land_slewrate = _landing.get_throttle_slewrate(); if (_landing.is_on_approach()) {
const int8_t land_slewrate = _landing.get_throttle_slewrate();
if (_landing.is_on_approach() && land_slewrate >0) { if (land_slewrate > 0) {
throttle_slewrate = land_slewrate; throttle_slewrate = land_slewrate;
}
} }
if (throttle_slewrate != 0) { if (throttle_slewrate != 0) {