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Plane: tell TECS to use synthetic airspeed during transition

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This commit is contained in:
Andrew Tridgell 2016-10-05 11:52:52 +11:00
parent 2fab15dcd5
commit cb61840ad2
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/quadplane.cpp
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@ -993,6 +993,12 @@ void QuadPlane::update_transition(void)
} else if (transition_state < TRANSITION_DONE) {
plane.TECS_controller.set_pitch_max_limit((transition_pitch_max+1)*2);
}
if (transition_state < TRANSITION_DONE) {
// during transition we ask TECS to use a synthetic
// airspeed. Otherwise the pitch limits will throw off the
// throttle calculation which is driven by pitch
plane.TECS_controller.use_synthetic_airspeed();
}
switch (transition_state) {
case TRANSITION_AIRSPEED_WAIT: {