Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: enforce expected flight_stage in TECS

This commit is contained in:
Tom Pittenger 2016-02-23 14:42:59 -08:00
parent 993e5b438c
commit b8fc524954
1 changed files with 10 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/ArduPlane.cpp
View File

@ -884,9 +884,18 @@ void Plane::update_alt()
}
if (auto_throttle_mode && !throttle_suppressed) {
// set Flight stage for controller. If not in AUTO then assume normal operation.
// this prevents TECS from being stuck in the wrong stage if you switch from
// AUTO to, say, FBWB during an aborted landing
AP_SpdHgtControl::FlightStage fs = flight_stage;
if (control_mode != AUTO) {
fs = AP_SpdHgtControl::FLIGHT_NORMAL;
}
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
fs,
is_doing_auto_land,
distance_beyond_land_wp,
auto_state.takeoff_pitch_cd,