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| author | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 14:20:30 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 14:20:30 +0100 |
| commit | c0100b5e17b87b1c721a115bdbe535ab606bd58e (patch) | |
| tree | fd36974bf418c96f1631f149f028f67db0894081 /src/lib/external_lgpl/tecs/tecs.cpp | |
| parent | 2e9a383390f1d6456f7258676024ad06ff5af1c6 (diff) | |
| download | px4-firmware-c0100b5e17b87b1c721a115bdbe535ab606bd58e.tar.gz px4-firmware-c0100b5e17b87b1c721a115bdbe535ab606bd58e.tar.bz2 px4-firmware-c0100b5e17b87b1c721a115bdbe535ab606bd58e.zip | |
heightrate p as parameter
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 5cbc19dbb..a94a06dda 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -231,7 +231,7 @@ void TECS::_update_height_demand(float demand, float state) _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 + _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p; // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; |