From bd7e1b82e1d735f81c00017f9e6362dc0611c594 Mon Sep 17 00:00:00 2001 From: Michael Day Date: Mon, 10 Mar 2014 10:41:05 -0700 Subject: [PATCH] AP_TECS: Auto landing now takes throttle_nudge into account. --- libraries/AP_TECS/AP_TECS.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index 803ff1b82f..f068f8181e 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -215,8 +215,8 @@ void AP_TECS::_update_speed(void) _TAS_dem = _EAS_dem * EAS2TAS; if (_landAirspeed > -1 && _ahrs.airspeed_sensor_enabled() && (_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage== FLIGHT_LAND_FINAL)) { - _TASmax = _landAirspeed; - _TASmin = _landAirspeed; + _TASmax = _landAirspeed * EAS2TAS; + _TASmin = _landAirspeed * EAS2TAS; } else { //not landing, or not using TECS_LAND_ASPD parameter _TASmax = aparm.airspeed_max * EAS2TAS; _TASmin = aparm.airspeed_min * EAS2TAS; @@ -456,7 +456,7 @@ void AP_TECS::_update_throttle_option(int16_t throttle_nudge) //TECS_LAND_THR param then use it if ((_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage== FLIGHT_LAND_FINAL) && _landThrottle > -1) { - nomThr = _landThrottle * 0.01f; + nomThr = (_landThrottle + throttle_nudge) * 0.01f; } else { //not landing or not using TECS_LAND_THR parameter nomThr = (aparm.throttle_cruise + throttle_nudge)* 0.01f; }