FixedWingAttitudeControl: small gain scheduling hack for airspeed less

tailsitters Signed-off-by: Roman <bapstroman@gmail.com>
PX4 · Apr 5, 2018 · d011aa7 · d011aa7
1 parent c67507c
commit d011aa7
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -602,6 +602,10 @@ void FixedwingAttitudeControl::run()
 					perf_count(_nonfinite_input_perf);
 				}
 
+				if (_vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
+					airspeed = _parameters.airspeed_max;
+				}
+
 				/*
 				 * For scaling our actuators using anything less than the min (close to stall)
 				 * speed doesn't make any sense - its the strongest reasonable deflection we