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px4-firmware
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increase safety margin for takeoff speed

This commit is contained in:
Thomas Gubler 2013-11-24 11:02:41 +01:00
parent 0611b26eea
commit 881c89dd1b
1 changed files with 1 additions and 1 deletions
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2
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -972,7 +972,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
if (altitude_error > 15.0f) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(1.3f*_parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas,
true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,