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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-04 15:28:02 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-04 15:28:02 +0200 |
| commit | 904cfd7c493e2e6f3d67ba03e9a24c14d9e62b6e (patch) | |
| tree | 009971a34ecac4218edd58dd50820bb8c2b1cd3f /src/lib/external_lgpl/tecs/tecs.cpp | |
| parent | 59775efaad782a1e4f5e346832407c71f1355c89 (diff) | |
| parent | 2389a11af1249f657d85d36a5e71db83940a7959 (diff) | |
| download | px4-firmware-904cfd7c493e2e6f3d67ba03e9a24c14d9e62b6e.tar.gz px4-firmware-904cfd7c493e2e6f3d67ba03e9a24c14d9e62b6e.tar.bz2 px4-firmware-904cfd7c493e2e6f3d67ba03e9a24c14d9e62b6e.zip | |
Merge branch 'master' into navigator_rewrite_drton
Diffstat (limited to 'src/lib/external_lgpl/tecs/tecs.cpp')
| -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; |