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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 15:38:27 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 15:38:27 +0200 |
| commit | cc05f0f18587b35452fe5e27a55769cefe18c4e5 (patch) | |
| tree | ef787183da27b6a4fdf6de16ae843aed6985ff9b /src/lib | |
| parent | 15eee418a035a0109bc0a33fa5889352aa3a1799 (diff) | |
| parent | ab400089bc2a42f1f0ace569d8f0ee58f4338e1d (diff) | |
| download | px4-firmware-cc05f0f18587b35452fe5e27a55769cefe18c4e5.tar.gz px4-firmware-cc05f0f18587b35452fe5e27a55769cefe18c4e5.tar.bz2 px4-firmware-cc05f0f18587b35452fe5e27a55769cefe18c4e5.zip | |
Merge remote-tracking branch 'upstream/obcfailsafe' into swissfang
Conflicts:
src/lib/external_lgpl/tecs/tecs.cpp
src/modules/commander/commander_params.c
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
src/modules/navigator/navigator_main.cpp
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index da99aa5b1..6a2a61b04 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -238,6 +238,7 @@ void TECS::_update_height_demand(float demand, float state) _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; + // Limit height rate of change if (_hgt_rate_dem > _maxClimbRate) { _hgt_rate_dem = _maxClimbRate; |