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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 11:36:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 11:36:11 +0200 |
commit | 1733e8d1b908ece50db9b1b07459148bedb60668 (patch) | |
tree | fd5a61596ed99b5ba3f0fecb8f00591c80644364 /src | |
parent | 1ba4f3e8ef89d14b658a7b400a4078db383e91de (diff) | |
parent | 2466cfba3e40e86ca97bf89e67fd073e1496cd11 (diff) | |
download | px4-firmware-1733e8d1b908ece50db9b1b07459148bedb60668.tar.gz px4-firmware-1733e8d1b908ece50db9b1b07459148bedb60668.tar.bz2 px4-firmware-1733e8d1b908ece50db9b1b07459148bedb60668.zip |
Merge branch 'master' of github.com:PX4/Firmware
Diffstat (limited to 'src')
-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; |