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TECS: Don't override the speedweight to 0 if synthetic airspeed is in use.

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This commit is contained in:
Samuel Tabor 2019-10-12 15:28:32 +01:00 committed by Andrew Tridgell
parent 170b599469
commit d04c6cb02e
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_TECS/AP_TECS.cpp
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@ -808,7 +808,7 @@ void AP_TECS::_update_pitch(void)
// A SKE_weighting of 2 provides 100% priority to speed control. This is used when an underspeed condition is detected. In this instance, if airspeed
// rises above the demanded value, the pitch angle will be increased by the TECS controller.
float SKE_weighting = constrain_float(_spdWeight, 0.0f, 2.0f);
if (!_ahrs.airspeed_sensor_enabled()) {
if (!(_ahrs.airspeed_sensor_enabled()|| _use_synthetic_airspeed)) {
SKE_weighting = 0.0f;
} else if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_VTOL) {
// if we are in VTOL mode then control pitch without regard to