Merge commit '2780dc39ce5d47f2d9dfa921062100a1dc86c2be' into mpc_track

5 files changed, 25 insertions, 6 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 46db788a6..926a8db2a 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -169,7 +169,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 
 	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-		float id = _rate_error * dt;
+		float id = _rate_error * dt * scaler;
 
 		/*
 		 * anti-windup: do not allow integrator to increase if actuator is at limit
@@ -190,7 +190,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_bodyrate_setpoint * _k_ff +_rate_error * _k_p + integrator_constrained) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = _bodyrate_setpoint * _k_ff * scaler +
+		_rate_error * _k_p * scaler * scaler
+		+ integrator_constrained;  //scaler is proportional to 1/airspeed
 //	warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
 //	warnx("roll: _last_output %.4f", (double)_last_output);
 	return math::constrain(_last_output, -1.0f, 1.0f);
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 9894a34d7..94bd26f03 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -135,7 +135,7 @@ float ECL_RollController::control_bodyrate(float pitch,
 
 	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-		float id = _rate_error * dt;
+		float id = _rate_error * dt * scaler;
 
 		/*
 		* anti-windup: do not allow integrator to increase if actuator is at limit
@@ -157,7 +157,9 @@ float ECL_RollController::control_bodyrate(float pitch,
 	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = _bodyrate_setpoint * _k_ff * scaler +
+		_rate_error * _k_p * scaler * scaler
+		+ integrator_constrained;  //scaler is proportional to 1/airspeed
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index a57a0481a..d27bf776f 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -252,6 +252,11 @@ void TECS::_update_height_demand(float demand, float state)
 
 void TECS::_detect_underspeed(void)
 {
+	if (!_detect_underspeed_enabled) {
+		_underspeed = false;
+		return;
+	}
+
 	if (((_integ5_state < _TASmin * 0.9f) && (_throttle_dem >= _THRmaxf * 0.95f)) || ((_integ3_state < _hgt_dem_adj) && _underspeed)) {
 		_underspeed = true;
 
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index bcc2d90e5..36ae4ecaf 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -66,6 +66,9 @@ public:
 		_hgt_dem_prev(0.0f),
 		_TAS_dem_adj(0.0f),
 		_STEdotErrLast(0.0f),
+		_underspeed(false),
+		_detect_underspeed_enabled(true),
+		_badDescent(false),
 		_climbOutDem(false),
 		_SPE_dem(0.0f),
 		_SKE_dem(0.0f),
@@ -221,6 +224,10 @@ public:
 		_speedrate_p = speedrate_p;
 	}
 
+	void set_detect_underspeed_enabled(bool enabled) {
+		_detect_underspeed_enabled = enabled;
+	}
+
 private:
 
 	struct tecs_state _tecs_state;
@@ -323,6 +330,9 @@ private:
 	// Underspeed condition
 	bool _underspeed;
 
+	// Underspeed detection enabled
+	bool _detect_underspeed_enabled;
+
 	// Bad descent condition caused by unachievable airspeed demand
 	bool _badDescent;
 
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index c555a0a69..9d479832f 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x)
 	last_timestamp = hrt_absolute_time();
 
 	if (accel_x > threshold_accel.get()) {
-		integrator += accel_x * dt;
+		integrator += dt;
 //		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
 //				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		if (integrator > threshold_accel.get() * threshold_time.get()) {
+		if (integrator > threshold_time.get()) {
 			launchDetected = true;
 		}