From 2017e394b34c421d11c17f431c7d21a9354fa083 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 27 Apr 2018 17:47:21 +0200 Subject: [PATCH] speed limitation during auto-takoff: remove from legacy and add to FlightTask --- src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp index e5a317801d..1c83b52ad2 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp @@ -130,8 +130,10 @@ void FlightTaskAutoLine::_generateTakeoffSetpoints() _position_setpoint = _target; _velocity_setpoint = Vector3f(NAN, NAN, NAN); - // set constraints - _constraints.speed_up = MPC_TKO_SPEED.get(); + // limit vertical speed during takeoff + _constraints.speed_up = math::gradual(_alt_above_ground, MPC_LAND_ALT2.get(), + MPC_LAND_ALT1.get(), MPC_TKO_SPEED.get(), _constraints.speed_up); + _constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN; }