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| author | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-07 10:13:56 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-07 10:13:56 +0200 |
| commit | d856356fce52d802258a6bbfd8e4b705655ea624 (patch) | |
| tree | 6d9bf75a03303ffdef851914c5d5e8677a318bbe /src/lib | |
| parent | 5d52978bc780707d63c1422369842629d26fb1e2 (diff) | |
| parent | c7f7de352d7e0f2921526e33077c6da6a46b404a (diff) | |
| download | px4-firmware-d856356fce52d802258a6bbfd8e4b705655ea624.tar.gz px4-firmware-d856356fce52d802258a6bbfd8e4b705655ea624.tar.bz2 px4-firmware-d856356fce52d802258a6bbfd8e4b705655ea624.zip | |
Merge pull request #1372 from PX4/swissfang
UAV Outback challenge improvements from Team Swiss Fang
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; |