autogyro takeoff updats

PX4 · Jul 18, 2022 · a561b61 · a561b61
1 parent eaa5828
commit a561b61
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/modules/fw_pos_control_l1/autogyro_takeoff/AutogyroTakeoff.cpp b/src/modules/fw_pos_control_l1/autogyro_takeoff/AutogyroTakeoff.cpp
@@ -305,12 +305,13 @@ float AutogyroTakeoff::getPitch(float tecsPitch)
 	switch (_state) {
 
 	case AutogyroTakeoffState::TAKEOFF_ERROR:
-	case AutogyroTakeoffState::PRE_TAKEOFF_PREROTATE_START: // 0 Null pitch
 		return 0;
 
+	case AutogyroTakeoffState::PRE_TAKEOFF_PREROTATE_START: // 0 Null pitch
 	case AutogyroTakeoffState::PRE_TAKEOFF_PREROTATE:   // 1 maximal pitch
 	case AutogyroTakeoffState::PRE_TAKEOFF_DONE: // 2
-		return math::radians(_param_rwto_max_pitch.get());
+		//return math::radians(_param_rwto_max_pitch.get());
+		return math::radians(_param_rwto_psp.get());
 
 	// FLy
 	default:

diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -54,7 +54,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("actuator_controls_status_0", 300);
 	add_topic("airspeed", 1000);
 	add_optional_topic("airspeed_validated", 200);
-	add_optional_topic("autogyro_takeoff_status", 100);
 	add_optional_topic("autotune_attitude_control_status", 100);
 	add_optional_topic("camera_capture");
 	add_optional_topic("camera_trigger");
@@ -96,7 +95,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
 	add_topic("system_power", 500);
-	add_optional_topic("takeoff_status", 1000);
+	add_topic("takeoff_status");
 	add_optional_topic("tecs_status", 200);
 	add_topic("trajectory_setpoint", 200);
 	add_topic("transponder_report");