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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 18:42:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 18:42:43 +0200 |
| commit | b81277a1ef92a26b0bc56c2469dc7933c6c9cd1d (patch) | |
| tree | 75952370a40d523e1c9ce1d56ab2c3b0d437854b /src/lib/external_lgpl/tecs/tecs.cpp | |
| parent | 159ba7f3bcc22148c5c8eceac0e950ae53729111 (diff) | |
| parent | 7a253d50f8da7a6f8176f784c196b85bcae3c8f1 (diff) | |
| download | px4-firmware-b81277a1ef92a26b0bc56c2469dc7933c6c9cd1d.tar.gz px4-firmware-b81277a1ef92a26b0bc56c2469dc7933c6c9cd1d.tar.bz2 px4-firmware-b81277a1ef92a26b0bc56c2469dc7933c6c9cd1d.zip | |
Merge branch 'sf0x_paranoid' of github.com:PX4/Firmware into swissfang
Diffstat (limited to 'src/lib/external_lgpl/tecs/tecs.cpp')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index a57a0481a..d27bf776f 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -252,6 +252,11 @@ void TECS::_update_height_demand(float demand, float state) void TECS::_detect_underspeed(void) { + if (!_detect_underspeed_enabled) { + _underspeed = false; + return; + } + if (((_integ5_state < _TASmin * 0.9f) && (_throttle_dem >= _THRmaxf * 0.95f)) || ((_integ3_state < _hgt_dem_adj) && _underspeed)) { _underspeed = true; |