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| author | philipoe <philipp.oettershagen@mavt.ethz.ch> | 2014-07-01 10:49:59 +0200 |
|---|---|---|
| committer | philipoe <philipp.oettershagen@mavt.ethz.ch> | 2014-07-01 10:49:59 +0200 |
| commit | 534c377ec6d09aff0feed9eb7e70c9188abcda8c (patch) | |
| tree | 30775f615c1dbf3b62d0560b48cbc7a91b52b84b /src/lib/external_lgpl | |
| parent | 48f4a1e5cd6ef653b466eb68c1073fb47cbefbd7 (diff) | |
| download | px4-firmware-534c377ec6d09aff0feed9eb7e70c9188abcda8c.tar.gz px4-firmware-534c377ec6d09aff0feed9eb7e70c9188abcda8c.tar.bz2 px4-firmware-534c377ec6d09aff0feed9eb7e70c9188abcda8c.zip | |
TECS: Small fix to throttle feed-forward
Diffstat (limited to 'src/lib/external_lgpl')
| -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; |