diydrones/ardupilot — pull request #888 by priseborough (2014-03-08 21:59:28+00:00)
Title: AP_TECS : Add protection for airspeed runaway due to pitch errors

TECS relies on pitch to control airspeed. Large positive pitch measurement errors or loss of pitch control can cause a speed runaway as TECS will continue to advance the throttle as the height drops and total energy reduces.

This patch ensures that if speed rises above the maximum set by ARSPD_FBW_MAX or below ARSPD_FBW_MIN, the throttle will act to bring the airspeed back within range regardless of the amount of height error.