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APM: removed factor of 0.5 in non-airspeed takeoff pitch 

this limited the pitch far below the specified target pitch
This commit is contained in:
Andrew Tridgell 2012-08-22 16:27:58 +10:00
parent 487b909189
commit d091311196
1 changed files with 3 additions and 4 deletions
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7
ArduPlane/ArduPlane.pde
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@ -1075,13 +1075,12 @@ static void update_current_flight_mode(void)
if (nav_pitch_cd < takeoff_pitch_cd) if (nav_pitch_cd < takeoff_pitch_cd)
nav_pitch_cd = takeoff_pitch_cd; nav_pitch_cd = takeoff_pitch_cd;
} else { } else {
nav_pitch_cd = (float)g_gps->ground_speed / (float)g.airspeed_cruise_cm * (float)takeoff_pitch_cd * 0.5; nav_pitch_cd = (g_gps->ground_speed / (float)g.airspeed_cruise_cm) * takeoff_pitch_cd;
nav_pitch_cd = constrain(nav_pitch_cd, 500, takeoff_pitch_cd); nav_pitch_cd = constrain(nav_pitch_cd, 500, takeoff_pitch_cd);
} }
g.channel_throttle.servo_out = g.throttle_max; //TODO: Replace with THROTTLE_TAKEOFF or other method of controlling throttle // max throttle for takeoff
// What is the case for doing something else? Why wouldn't you want max throttle for TO? g.channel_throttle.servo_out = g.throttle_max;
// ******************************
break; break;