From d0913111967e265e20e1b82000a0d9c6b672c4d1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 22 Aug 2012 16:27:58 +1000
Subject: [PATCH] APM: removed factor of 0.5 in non-airspeed takeoff pitch
this limited the pitch far below the specified target pitch
---
ArduPlane/ArduPlane.pde | 7 +++----
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 3b5ed6735..343381d54 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -1075,13 +1075,12 @@ static void update_current_flight_mode(void)
if (nav_pitch_cd < takeoff_pitch_cd)
nav_pitch_cd = takeoff_pitch_cd;
} else {
- nav_pitch_cd = (float)g_gps->ground_speed / (float)g.airspeed_cruise_cm * (float)takeoff_pitch_cd * 0.5;
+ nav_pitch_cd = (g_gps->ground_speed / (float)g.airspeed_cruise_cm) * takeoff_pitch_cd;
nav_pitch_cd = constrain(nav_pitch_cd, 500, takeoff_pitch_cd);
}
- g.channel_throttle.servo_out = g.throttle_max; //TODO: Replace with THROTTLE_TAKEOFF or other method of controlling throttle
- // What is the case for doing something else? Why wouldn't you want max throttle for TO?
- // ******************************
+ // max throttle for takeoff
+ g.channel_throttle.servo_out = g.throttle_max;
break;
--
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