added max pitch parameter for climbout phase

src/lib/runway_takeoff/RunwayTakeoff.cpp

@@ -65,6 +65,7 @@ RunwayTakeoff::RunwayTakeoff() :
 	_runway_takeoff_nav_alt(this, "NAV_ALT"),
 	_runway_takeoff_throttle(this, "MAX_THR"),
 	_runway_takeoff_pitch_sp(this, "PSP"),
+	_runway_takeoff_max_pitch(this, "MAX_PITCH"),
 	_airspeed_min(this, "FW_AIRSPD_MIN", false),
 	_climbout_diff(this, "FW_CLMBOUT_DIFF", false)
 {
@@ -83,6 +84,7 @@ void RunwayTakeoff::init(float yaw)
 	_initialized = true;
 	_state = RunwayTakeoffState::THROTTLE_RAMP;
 	_initialized_time = hrt_absolute_time();
+	_climbout = true;
 }
 
 void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
@@ -98,7 +100,6 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
 
 	case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
 		if (airspeed > _airspeed_min.get() * _min_airspeed_scaling) {
-			_climbout = true;
 			_state = RunwayTakeoffState::TAKEOFF;
 			mavlink_log_info(mavlink_fd, "#Takeoff airspeed reached");
 		}
@@ -218,6 +219,17 @@ float RunwayTakeoff::getMinPitch(float sp_min, float climbout_min, float min)
 	}
 }
 
+float RunwayTakeoff::getMaxPitch(float max)
+{
+	if (_climbout && _runway_takeoff_max_pitch.get() > 0.1f) {
+		return _runway_takeoff_max_pitch.get();
+	}
+
+	else {
+		return max;
+	}
+}
+
 void RunwayTakeoff::reset()
 {
 	_initialized = false;

src/lib/runway_takeoff/RunwayTakeoff.h

@@ -85,6 +85,7 @@ public:
 	bool resetIntegrators();
 	float getMinAirspeedScaling() { return _min_airspeed_scaling; };
 	float getMinPitch(float sp_min, float climbout_min, float min);
+	float getMaxPitch(float max);
 
 	void reset();
 
@@ -107,6 +108,7 @@ private:
 	control::BlockParamFloat _runway_takeoff_nav_alt;
 	control::BlockParamFloat _runway_takeoff_throttle;
 	control::BlockParamFloat _runway_takeoff_pitch_sp;
+	control::BlockParamFloat _runway_takeoff_max_pitch;
 	control::BlockParamFloat _airspeed_min;
 	control::BlockParamFloat _climbout_diff;
 

src/lib/runway_takeoff/runway_takeoff_params.c

@@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(RWTO_NAV_ALT, 5.0);
 PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0);
 
 /**
- * Pitch setpoint during runway takeoff.
+ * Pitch setpoint during taxi / before takeoff airspeed is reached.
  * A taildragger with stearable wheel might need to pitch up
  * a little to keep it's wheel on the ground before airspeed
  * to takeoff is reached.
@@ -98,3 +98,14 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0);
  * @group Runway Takeoff
  */
 PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
+
+/**
+ * Max pitch during takeoff.
+ * Fixed-wing settings are used if set to 0. Note that there is also a minimum
+ * pitch of 10 degrees during takeoff, so this must be larger if set.
+ *
+ * @min 0.0
+ * @max 60.0
+ * @group Runway Takeoff
+ */
+PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0);

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1382,7 +1382,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					_mavlink_fd);
 
 				// update tecs
-				float takeoff_pitch_max_deg = _parameters.pitch_limit_max;
+				float takeoff_pitch_max_deg = _runway_takeoff.getMaxPitch(_parameters.pitch_limit_max);
 				float takeoff_pitch_max_rad = math::radians(takeoff_pitch_max_deg);
 
 				tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,