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APM: allow for landing pitch control until final stage

This commit is contained in:
Andrew Tridgell 2012-09-12 13:09:16 +10:00
parent 05e72c6e68
commit b1408008c9
1 changed files with 6 additions and 1 deletions
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7
ArduPlane/ArduPlane.pde
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@ -1111,11 +1111,16 @@ static void update_current_flight_mode(void)
nav_roll_cd = 0; nav_roll_cd = 0;
} }
if (!alt_control_airspeed() || land_complete) { if (land_complete) {
// hold pitch constant in final approach // hold pitch constant in final approach
nav_pitch_cd = g.land_pitch_cd; nav_pitch_cd = g.land_pitch_cd;
} else { } else {
calc_nav_pitch(); calc_nav_pitch();
if (!alt_control_airspeed()) {
// when not under airspeed control, don't allow
// down pitch in landing
nav_pitch_cd = constrain(nav_pitch_cd, 0, nav_pitch_cd);
}
} }
calc_throttle(); calc_throttle();