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| author | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 12:15:14 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 12:15:14 +0100 |
| commit | 947207e68da08b7cd14e7da0b44d000b1c435b11 (patch) | |
| tree | 2a48472454ffdf0184b27e7437e01cd87cb2dc27 /src/lib/external_lgpl | |
| parent | 5eea669d62b8a6a85b79c8ad3b5b8c08bb54987f (diff) | |
| download | px4-firmware-947207e68da08b7cd14e7da0b44d000b1c435b11.tar.gz px4-firmware-947207e68da08b7cd14e7da0b44d000b1c435b11.tar.bz2 px4-firmware-947207e68da08b7cd14e7da0b44d000b1c435b11.zip | |
change calc of hgt_rate_dem to use the filtered height setpoint
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 51a621f62..baf893dd2 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 = 0.05f * demand + 0.95f * _hgt_dem_adj_last; _hgt_dem_adj_last = _hgt_dem_adj; - _hgt_rate_dem = (demand-state)*0.1f; //xxx: parameter + _hgt_rate_dem = (_hgt_dem_adj-state)*0.1f; //xxx: parameter // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; |