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AP_TECS: Auto landing now takes throttle_nudge into account.

mission-4.1.18
Michael Day 11 years ago committed by Andrew Tridgell
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861690dea2
commit
bd7e1b82e1
1 changed files with 3 additions and 3 deletions
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  1. 6
      libraries/AP_TECS/AP_TECS.cpp

6
libraries/AP_TECS/AP_TECS.cpp
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@ -215,8 +215,8 @@ void AP_TECS::_update_speed(void)
_TAS_dem = _EAS_dem * EAS2TAS; _TAS_dem = _EAS_dem * EAS2TAS;
if (_landAirspeed > -1 && _ahrs.airspeed_sensor_enabled() && if (_landAirspeed > -1 && _ahrs.airspeed_sensor_enabled() &&
(_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage== FLIGHT_LAND_FINAL)) { (_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage== FLIGHT_LAND_FINAL)) {
_TASmax = _landAirspeed; _TASmax = _landAirspeed * EAS2TAS;
_TASmin = _landAirspeed; _TASmin = _landAirspeed * EAS2TAS;
} else { //not landing, or not using TECS_LAND_ASPD parameter } else { //not landing, or not using TECS_LAND_ASPD parameter
_TASmax = aparm.airspeed_max * EAS2TAS; _TASmax = aparm.airspeed_max * EAS2TAS;
_TASmin = aparm.airspeed_min * 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 //TECS_LAND_THR param then use it
if ((_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage== FLIGHT_LAND_FINAL) && if ((_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage== FLIGHT_LAND_FINAL) &&
_landThrottle > -1) { _landThrottle > -1) {
nomThr = _landThrottle * 0.01f; nomThr = (_landThrottle + throttle_nudge) * 0.01f;
} else { //not landing or not using TECS_LAND_THR parameter } else { //not landing or not using TECS_LAND_THR parameter
nomThr = (aparm.throttle_cruise + throttle_nudge)* 0.01f; nomThr = (aparm.throttle_cruise + throttle_nudge)* 0.01f;
} }

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