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| author | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 13:32:42 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 13:32:42 +0100 |
| commit | d944eeabf08620413c4d99c26de339fd6f6e7e8c (patch) | |
| tree | 028d87d5b69bea2f5a92fea701326a0436fd6a9b /src/lib/external_lgpl/tecs/tecs.cpp | |
| parent | 947207e68da08b7cd14e7da0b44d000b1c435b11 (diff) | |
| download | px4-firmware-d944eeabf08620413c4d99c26de339fd6f6e7e8c.tar.gz px4-firmware-d944eeabf08620413c4d99c26de339fd6f6e7e8c.tar.bz2 px4-firmware-d944eeabf08620413c4d99c26de339fd6f6e7e8c.zip | |
remove filtering of height setpoint
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 baf893dd2..5cbc19dbb 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -228,7 +228,7 @@ void TECS::_update_height_demand(float demand, float state) // // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last, // // _hgt_rate_dem); - _hgt_dem_adj = 0.05f * demand + 0.95f * _hgt_dem_adj_last; + _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; _hgt_dem_adj_last = _hgt_dem_adj; _hgt_rate_dem = (_hgt_dem_adj-state)*0.1f; //xxx: parameter |