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| author | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-30 09:58:58 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-30 09:58:58 +0100 |
| commit | 5500fcdf1276f18c425d109a480fe22fa0289e05 (patch) | |
| tree | a2b7a73db3258d18bea10227b8d6b1520068e80d | |
| parent | a82f4881c7f0dee36860ca69fef1e63b0d863b8c (diff) | |
| parent | 02e35991d52f280d978c3ddd527269b1f9fd176d (diff) | |
| download | px4-firmware-5500fcdf1276f18c425d109a480fe22fa0289e05.tar.gz px4-firmware-5500fcdf1276f18c425d109a480fe22fa0289e05.tar.bz2 px4-firmware-5500fcdf1276f18c425d109a480fe22fa0289e05.zip | |
Merge pull request #1413 from philipoe/PR1
TECS: Fix bug (underspeed-condition did not have any effect on throttle)
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 8 | ||||
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.h | 3 |
2 files changed, 4 insertions, 7 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 6a2a61b04..0ed210cf4 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM // Calculate throttle demand // If underspeed condition is set, then demand full throttle if (_underspeed) { - _throttle_dem_unc = 1.0f; + _throttle_dem = 1.0f; } else { // Calculate gain scaler from specific energy error to throttle @@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM } else { _throttle_dem = ff_throttle; } - } - // Constrain throttle demand - _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + // Constrain throttle demand + _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + } } void TECS::_detect_bad_descent(void) diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index 8ac31de6f..eb45237b7 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -345,9 +345,6 @@ private: // climbout mode bool _climbOutDem; - // throttle demand before limiting - float _throttle_dem_unc; - // pitch demand before limiting float _pitch_dem_unc; |