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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 11:37:15 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 11:37:15 +0200 |
| commit | 2b82f22a032fdeb2ae9838eb57cb405a75f53e27 (patch) | |
| tree | 6427c1b8871fe965109ff5f564540b24352a9395 | |
| parent | 15a7a0ce7fd01717e597a470b732d623c5fda5f6 (diff) | |
| parent | 1733e8d1b908ece50db9b1b07459148bedb60668 (diff) | |
| download | px4-firmware-2b82f22a032fdeb2ae9838eb57cb405a75f53e27.tar.gz px4-firmware-2b82f22a032fdeb2ae9838eb57cb405a75f53e27.tar.bz2 px4-firmware-2b82f22a032fdeb2ae9838eb57cb405a75f53e27.zip | |
Merge branch 'master' into reconfig_fix
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 3730b1920..6386e37a0 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f); if (STEdot_dem >= 0) { - ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr); + ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr); } else { ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr; |