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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-01 13:04:28 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-01 13:04:28 +0200 |
| commit | 8e33278c4cfc979e6ca69994186b3a6144847d6a (patch) | |
| tree | 24b456ff37659ff0cb018b46f9347268b1b8820f /src/lib | |
| parent | 1300c9a975193ea9217600f25cc14e04d9f7706b (diff) | |
| download | px4-firmware-8e33278c4cfc979e6ca69994186b3a6144847d6a.tar.gz px4-firmware-8e33278c4cfc979e6ca69994186b3a6144847d6a.tar.bz2 px4-firmware-8e33278c4cfc979e6ca69994186b3a6144847d6a.zip | |
Move the last throttle demand setting to a better position
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 16c7e5ffa..579fb5d42 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -327,9 +327,12 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM _throttle_dem = constrain(_throttle_dem, _last_throttle_dem - thrRateIncr, _last_throttle_dem + thrRateIncr); - _last_throttle_dem = _throttle_dem; } + // Ensure _last_throttle_dem is always initialized properly + // Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!! + _last_throttle_dem = _throttle_dem; + // Calculate integrator state upper and lower limits // Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand |