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Code Issues Releases Activity

drive-by bugfix in Fixedwingpathfollower

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This commit is contained in:
Corvus Corax 2014-04-06 15:38:22 +02:00
parent e18f2e6d7e
commit 9a52f506ef
1 changed files with 3 additions and 3 deletions
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6
flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
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@ -503,7 +503,7 @@ static uint8_t updateFixedDesiredAttitude()
// Error condition: plane cannot hold altitude at current speed.
fixedwingpathfollowerStatus.Errors.Lowpower = 0;
if (powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Max && // thrust at maximum
if (fixedwingpathfollowerSettings.ThrustLimit.Neutral + powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Max && // thrust at maximum
velocityState.Down > 0 && // we ARE going down
descentspeedDesired < 0 && // we WANT to go up
airspeedError > 0 && // we are too slow already
@ -513,7 +513,7 @@ static uint8_t updateFixedDesiredAttitude()
}
// Error condition: plane keeps climbing despite minimum thrust (opposite of above)
fixedwingpathfollowerStatus.Errors.Highpower = 0;
if (powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Min && // thrust at minimum
if (fixedwingpathfollowerSettings.ThrustLimit.Neutral + powerCommand <= fixedwingpathfollowerSettings.ThrustLimit.Min && // thrust at minimum
velocityState.Down < 0 && // we ARE going up
descentspeedDesired > 0 && // we WANT to go down
airspeedError < 0 && // we are too fast already
@ -555,7 +555,7 @@ static uint8_t updateFixedDesiredAttitude()
// Error condition: high speed dive
fixedwingpathfollowerStatus.Errors.Pitchcontrol = 0;
if (pitchCommand >= fixedwingpathfollowerSettings.PitchLimit.Max && // pitch demand is full up
if (fixedwingpathfollowerSettings.PitchLimit.Neutral + pitchCommand >= fixedwingpathfollowerSettings.PitchLimit.Max && // pitch demand is full up
velocityState.Down > 0 && // we ARE going down
descentspeedDesired < 0 && // we WANT to go up
airspeedError < 0 && // we are too fast already