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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-07 22:49:27 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-07 22:49:27 +0200 |
| commit | 4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a (patch) | |
| tree | 05bb8ef2f9443110c0dfa0e3915ecc391dadf5c6 /src/lib | |
| parent | 8c6c08dcb5ce87e613cbf867571f219a60e1b813 (diff) | |
| parent | 91b4d85b46f1d4514fe1ce45553753eb011918c1 (diff) | |
| download | px4-firmware-4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a.tar.gz px4-firmware-4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a.tar.bz2 px4-firmware-4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a.zip | |
Merged master into st24
Diffstat (limited to 'src/lib')
| -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 023bd71bf..6a2a61b04 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -236,9 +236,9 @@ void TECS::_update_height_demand(float demand, float state) // // _hgt_rate_dem); _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; - _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT; // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; |