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Plane: added support for throttle nudging with TECS

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Paul Riseborough 2013-07-09 20:51:03 +10:00 committed by Andrew Tridgell
parent 2c5db9a165
commit a4f3180e2a
1 changed files with 3 additions and 2 deletions
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ArduPlane/ArduPlane.pde
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@ -1262,9 +1262,10 @@ static void update_alt()
if (g.alt_control_algorithm == ALT_CONTROL_TECS &&
auto_throttle_mode && !throttle_suppressed) {
SpdHgt_Controller->update_pitch_throttle(target_altitude_cm - home.alt + (int32_t(g.alt_offset)*100),
target_airspeed_cm,
target_airspeed_cm,
(control_mode==AUTO && takeoff_complete == false),
takeoff_pitch_cd);
takeoff_pitch_cd,
throttle_nudge);
if (g.log_bitmask & MASK_LOG_TECS) {
Log_Write_TECS_Tuning();
}