From b3bd83b1c6ce5d96efe74fffdfada0e3c716f5f6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 1 Jan 2016 17:36:29 +1100 Subject: [PATCH] AP_TECS: no underspeed when in VTOL --- libraries/AP_TECS/AP_TECS.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index 320c941817..94800d5f77 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -454,7 +454,9 @@ void AP_TECS::_update_height_demand(void) void AP_TECS::_detect_underspeed(void) { - if (((_integ5_state < _TASmin * 0.9f) && + if (_flight_stage == AP_TECS::FLIGHT_VTOL) { + _underspeed = false; + } else if (((_integ5_state < _TASmin * 0.9f) && (_throttle_dem >= _THRmaxf * 0.95f) && _flight_stage != AP_TECS::FLIGHT_LAND_FINAL) || ((_height < _hgt_dem_adj) && _underspeed))