AP_TECS: bug fix - use takeoff integrator during land abort

8 years ago · d1434602a5
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@ -682,7 +682,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
				@@ -682,7 +682,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
 float AP_TECS::_get_i_gain(void)
 {
    float i_gain = _integGain;
-    if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF) {
+    if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
        if (!is_zero(_integGain_takeoff)) {
            i_gain = _integGain_takeoff;
        }