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Plane: make TRAINING mode obey stall prevention roll limits 

Fixes issue#2014
This commit is contained in:
Andrew Tridgell 2015-08-14 13:31:59 +10:00
parent ac2e1552b2
commit cc96f80f02
2 changed files with 3 additions and 0 deletions
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1
ArduPlane/ArduPlane.cpp
View File

@ -552,6 +552,7 @@ void Plane::update_flight_mode(void)
case TRAINING: {
training_manual_roll = false;
training_manual_pitch = false;
update_load_factor();
// if the roll is past the set roll limit, then
// we set target roll to the limit

2
ArduPlane/Attitude.cpp
View File

@ -1082,6 +1082,7 @@ void Plane::update_load_factor(void)
// our airspeed is below the minimum airspeed. Limit roll to
// 25 degrees
nav_roll_cd = constrain_int32(nav_roll_cd, -2500, 2500);
roll_limit_cd = constrain_int32(roll_limit_cd, -2500, 2500);
} else if (max_load_factor < aerodynamic_load_factor) {
// the demanded nav_roll would take us past the aerodymamic
// load limit. Limit our roll to a bank angle that will keep
@ -1094,5 +1095,6 @@ void Plane::update_load_factor(void)
roll_limit = 2500;
}
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit);
roll_limit_cd = constrain_int32(roll_limit_cd, -roll_limit, roll_limit);
}
}