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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 11:09:14 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 11:09:14 +0100 |
| commit | b6f2c286e9774194f75d25d272ad66e9dc63bcd5 (patch) | |
| tree | b47a30e9625fc13f752a6a8cef53e223fff5e49f /src/lib/external_lgpl | |
| parent | 881c89dd1b55f5e2dbb355562665a94dcc618217 (diff) | |
| download | px4-firmware-b6f2c286e9774194f75d25d272ad66e9dc63bcd5.tar.gz px4-firmware-b6f2c286e9774194f75d25d272ad66e9dc63bcd5.tar.bz2 px4-firmware-b6f2c286e9774194f75d25d272ad66e9dc63bcd5.zip | |
disabling bad descent detection because of to many false positives
Diffstat (limited to 'src/lib/external_lgpl')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 18 |
1 files changed, 11 insertions, 7 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 510b8ed9c..1ae6e7653 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -368,14 +368,18 @@ void TECS::_detect_bad_descent(void) // 1) Underspeed protection not active // 2) Specific total energy error > 0 // This mode will produce an undulating speed and height response as it cuts in and out but will prevent the aircraft from descending into the ground if an unachievable speed demand is set - float STEdot = _SPEdot + _SKEdot; - - if ((!_underspeed && (_STE_error > 200.0f) && (STEdot < 0.0f) && (_throttle_dem >= _THRmaxf * 0.9f)) || (_badDescent && !_underspeed && (_STE_error > 0.0f))) { - _badDescent = true; +// float STEdot = _SPEdot + _SKEdot; +// +// if ((!_underspeed && (_STE_error > 200.0f) && (STEdot < 0.0f) && (_throttle_dem >= _THRmaxf * 0.9f)) || (_badDescent && !_underspeed && (_STE_error > 0.0f))) { +// +// warnx("bad descent detected: _STE_error %.1f, STEdot %.1f, _throttle_dem %.1f", _STE_error, STEdot, _throttle_dem); +// _badDescent = true; +// +// } else { +// _badDescent = false; +// } - } else { - _badDescent = false; - } + _badDescent = false; } void TECS::_update_pitch(void) |