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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
| commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
| tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/lib/external_lgpl/tecs/tecs.cpp | |
| parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
| parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
| download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip | |
Merged master into uavcan
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; |