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AP_TECS: no underspeed when in VTOL

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This commit is contained in:
Andrew Tridgell 2016-01-01 17:36:29 +11:00
parent 4f70ca22c1
commit b3bd83b1c6
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_TECS/AP_TECS.cpp
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@ -454,7 +454,9 @@ void AP_TECS::_update_height_demand(void)
void AP_TECS::_detect_underspeed(void)
{
if (((_integ5_state < _TASmin * 0.9f) &&
if (_flight_stage == AP_TECS::FLIGHT_VTOL) {
_underspeed = false;
} else if (((_integ5_state < _TASmin * 0.9f) &&
(_throttle_dem >= _THRmaxf * 0.95f) &&
_flight_stage != AP_TECS::FLIGHT_LAND_FINAL) ||
((_height < _hgt_dem_adj) && _underspeed))