From d1434602a5716f00a9fd3ca1417a5cf013b31e7e Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Tue, 10 Jan 2017 21:32:41 -0800
Subject: [PATCH] AP_TECS: bug fix - use takeoff integrator during land abort
---
libraries/AP_TECS/AP_TECS.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 2a794b648d..4449dd2e09 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -682,7 +682,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
float AP_TECS::_get_i_gain(void)
{
float i_gain = _integGain;
- if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF) {
+ if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
if (!is_zero(_integGain_takeoff)) {
i_gain = _integGain_takeoff;
}