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Plane: make TRAINING mode obey stall prevention roll limits

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Fixes issue#2014
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Andrew Tridgell 2015-08-14 13:31:59 +10:00 committed by Randy Mackay
parent 5101e263fa
commit 51ff905ba8
2 changed files with 3 additions and 0 deletions
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1
ArduPlane/ArduPlane.cpp
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@ -552,6 +552,7 @@ void Plane::update_flight_mode(void)
case TRAINING: { case TRAINING: {
training_manual_roll = false; training_manual_roll = false;
training_manual_pitch = false; training_manual_pitch = false;
update_load_factor();
// if the roll is past the set roll limit, then // if the roll is past the set roll limit, then
// we set target roll to the limit // we set target roll to the limit

2
ArduPlane/Attitude.cpp
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@ -1082,6 +1082,7 @@ void Plane::update_load_factor(void)
// our airspeed is below the minimum airspeed. Limit roll to // our airspeed is below the minimum airspeed. Limit roll to
// 25 degrees // 25 degrees
nav_roll_cd = constrain_int32(nav_roll_cd, -2500, 2500); 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) { } else if (max_load_factor < aerodynamic_load_factor) {
// the demanded nav_roll would take us past the aerodymamic // the demanded nav_roll would take us past the aerodymamic
// load limit. Limit our roll to a bank angle that will keep // 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; roll_limit = 2500;
} }
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit); nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit);
roll_limit_cd = constrain_int32(roll_limit_cd, -roll_limit, roll_limit);
} }
} }