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Plane: ensure TECS is updated at 10Hz only

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This commit is contained in:
Andrew Tridgell 2016-01-20 17:21:07 +11:00
parent 5da6082d78
commit 69b2421563
1 changed files with 13 additions and 11 deletions
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24
ArduPlane/ArduPlane.cpp
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@ -866,6 +866,19 @@ void Plane::update_alt()
geofence_check(true);
update_flight_stage();
if (auto_throttle_mode && !throttle_suppressed) {
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
auto_state.takeoff_pitch_cd,
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();
}
}
}
/*
@ -907,17 +920,6 @@ void Plane::update_flight_stage(void)
} else {
set_flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL);
}
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
auto_state.takeoff_pitch_cd,
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();
}
} else if (control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||