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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-04 12:22:55 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-04 12:22:55 +0200 |
| commit | 39dab45ac5f9321221eb86e23b0e203ae63f0936 (patch) | |
| tree | 7f3f99719a509586db29db0b7174b4e6fd2974ad /src/lib | |
| parent | d7394c7ef973e34d87187420444baad6fcf9854b (diff) | |
| parent | 2389a11af1249f657d85d36a5e71db83940a7959 (diff) | |
| download | px4-firmware-39dab45ac5f9321221eb86e23b0e203ae63f0936.tar.gz px4-firmware-39dab45ac5f9321221eb86e23b0e203ae63f0936.tar.bz2 px4-firmware-39dab45ac5f9321221eb86e23b0e203ae63f0936.zip | |
Merge branch 'master' into dataman_state_nav_rewrite
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 3730b1920..6386e37a0 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f); if (STEdot_dem >= 0) { - ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr); + ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr); } else { ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr; |