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Plane: pass FlightStage to TECS

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this will allow for better throttle and pitch control on landing
This commit is contained in:
Andrew Tridgell 2013-10-12 13:14:30 +11:00
parent 55ba536331
commit 05115684c1
1 changed files with 13 additions and 1 deletions
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14
ArduPlane/ArduPlane.pde
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@ -1340,9 +1340,21 @@ static void update_alt()
// Update the speed & height controller states
if (auto_throttle_mode && !throttle_suppressed) {
AP_SpdHgtControl::FlightStage flight_stage = AP_SpdHgtControl::FLIGHT_NORMAL;
if (control_mode==AUTO) {
if (takeoff_complete == false) {
flight_stage = AP_SpdHgtControl::FLIGHT_TAKEOFF;
} else if (nav_command_ID == MAV_CMD_NAV_LAND && land_complete == true) {
flight_stage = AP_SpdHgtControl::FLIGHT_LAND_FINAL;
} else if (nav_command_ID == MAV_CMD_NAV_LAND) {
flight_stage = AP_SpdHgtControl::FLIGHT_LAND_APPROACH;
}
}
SpdHgt_Controller->update_pitch_throttle(target_altitude_cm - home.alt + (int32_t(g.alt_offset)*100),
target_airspeed_cm,
(control_mode==AUTO && takeoff_complete == false),
flight_stage,
takeoff_pitch_cd,
throttle_nudge,
relative_altitude());