AP_TECS: allow zero throttle in flare for landing

2014-08-30 05:14:57 +10:00 · 2014-08-30 05:14:57 +10:00 · a6ca11facf
commit a6ca11facf
parent 6c1eed0a20
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@ -736,7 +736,10 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
 	}
    if (flight_stage == FLIGHT_LAND_FINAL) {
        // in flare use min pitch from LAND_PITCH_CD
-		_PITCHminf = max(_PITCHminf, aparm.land_pitch_cd * 0.01f);        
+        _PITCHminf = max(_PITCHminf, aparm.land_pitch_cd * 0.01f);
+
+        // and allow zero throttle
+        _THRminf = 0;
    }
 	// convert to radians
 	_PITCHmaxf = radians(_PITCHmaxf);