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AP_TECS: Use LAND_THR_SLEW if appropriate.

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Samuel Tabor 2020-07-01 10:56:54 +01:00 committed by Tom Pittenger
parent 4726e670d5
commit bbe01adc7e
1 changed files with 9 additions and 2 deletions
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11
libraries/AP_TECS/AP_TECS.cpp
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@ -699,8 +699,15 @@ 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
if (aparm.throttle_slewrate != 0) { int8_t throttle_slewrate = aparm.throttle_slewrate;
float thrRateIncr = _DT * (_THRmaxf - THRminf_clipped_to_zero) * aparm.throttle_slewrate * 0.01f; int8_t land_slewrate = _landing.get_throttle_slewrate();
if (_landing.is_on_approach() && land_slewrate >0) {
throttle_slewrate = land_slewrate;
}
if (throttle_slewrate != 0) {
float thrRateIncr = _DT * (_THRmaxf - THRminf_clipped_to_zero) * throttle_slewrate * 0.01f;
_throttle_dem = constrain_float(_throttle_dem, _throttle_dem = constrain_float(_throttle_dem,
_last_throttle_dem - thrRateIncr, _last_throttle_dem - thrRateIncr,