/*
adjust nav_pitch_cd for STAB_PITCH_DOWN_CD. This is used to make
keeping up good airspeed in FBWA mode easier, as the plane will
automatically pitch down a little when at low throttle. It makes
FBWA landings without stalling much easier.
*/
void Plane::adjust_nav_pitch_throttle(void)
{
int8_t throttle = throttle_percentage();
if (throttle >= 0 && throttle < aparm.throttle_cruise && flight_stage != AP_SpdHgtControl::FLIGHT_VTOL) {
float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;
}
}
/*
adjust nav_pitch_cd for STAB_PITCH_DOWN_CD. This is used to make
keeping up good airspeed in FBWA mode easier, as the plane will
automatically pitch down a little when at low throttle. It makes
FBWA landings without stalling much easier.
*/
void Plane::adjust_nav_pitch_throttle(void)
{
uint8_t throttle = throttle_percentage();
if (throttle < aparm.throttle_cruise) {
float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;
}
}
