From f3ae231dad5b6c8f4415056c44ea711b3b2de99b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 2 Aug 2015 01:23:00 +0200 Subject: [PATCH] TECS: Fix manual climbout --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 4f3fdac91c..ceea71fca9 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1502,7 +1502,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi throttle_max, _parameters.throttle_cruise, climbout_requested, - pitch_limit_min, + ((climbout_requested) ? math::radians(10.0f) : pitch_limit_min), _global_pos.alt, ground_speed, tecs_status_s::TECS_MODE_NORMAL); @@ -1612,7 +1612,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi throttle_max, _parameters.throttle_cruise, climbout_requested, - pitch_limit_min, + ((climbout_requested) ? math::radians(10.0f) : pitch_limit_min), _global_pos.alt, ground_speed, tecs_status_s::TECS_MODE_NORMAL);