diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-07 12:09:47 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-07 12:09:47 +0200 |
| commit | 8d187cc2fa093c0784c330d2480a17b9d24c6ef1 (patch) | |
| tree | 27913b22403c51f35c68833298fe1d7c640eb7fb /src/lib/external_lgpl | |
| parent | 7dd81c8cb2a05321bcb28819d6eb3aec67052517 (diff) | |
| parent | 79e5ec646523c8c93bc0e17c39fbe31222863d93 (diff) | |
| download | px4-firmware-8d187cc2fa093c0784c330d2480a17b9d24c6ef1.tar.gz px4-firmware-8d187cc2fa093c0784c330d2480a17b9d24c6ef1.tar.bz2 px4-firmware-8d187cc2fa093c0784c330d2480a17b9d24c6ef1.zip | |
Merge branch 'master' of github.com:PX4/Firmware into sf0x_test
Diffstat (limited to 'src/lib/external_lgpl')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index da99aa5b1..6a2a61b04 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -238,6 +238,7 @@ void TECS::_update_height_demand(float demand, float state) _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT; _hgt_dem_adj_last = _hgt_dem_adj; + // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; |