Hi Anton,
address@hidden wrote:
Pascal,
found a nasty bug in the code today. If you use vmode="gaz" and give a gaz
setting gaz="?" you are unable to also specify a pitch angle. This may be a
bug from adding autopitch I am unsure. Good luck
You are right.
Before the auto_pitch mode was added, "desired_pitch" was computed in
navigation_task() (main.c) with
desired_pitch = nav_pitch + pitch_of_vz;
and it was independent from the current vertical mode.
This line has been unfortunately moved into climb_pid_run() (pid.c)
which is
called only with a vertical_mode greater than AUTO_CLIMB (i.e. CLIMB or ALT).
This is now fixed:
- climb_pid_run() computes (if auto_pitch) or updates (else) nav_pitch ;
- desired_pitch is always set to nav_pitch in navigation_task()
Please check the source code before flying ...
--Pascal