From d1434602a5716f00a9fd3ca1417a5cf013b31e7e Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Tue, 10 Jan 2017 21:32:41 -0800 Subject: [PATCH] AP_TECS: bug fix - use takeoff integrator during land abort --- libraries/AP_TECS/AP_TECS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index 2a794b648d..4449dd2e09 100644 --- 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) 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; }