diff options
Diffstat (limited to 'src/lib/external_lgpl/tecs/tecs.h')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.h | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index f8f832ed7..4fc009da9 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -180,6 +180,14 @@ public: _indicated_airspeed_max = airspeed; } + void set_heightrate_p(float heightrate_p) { + _heightrate_p = heightrate_p; + } + + void set_speedrate_p(float speedrate_p) { + _speedrate_p = speedrate_p; + } + private: // Last time update_50Hz was called uint64_t _update_50hz_last_usec; @@ -203,6 +211,8 @@ private: float _vertAccLim; float _rollComp; float _spdWeight; + float _heightrate_p; + float _speedrate_p; // throttle demand in the range from 0.0 to 1.0 float _throttle_dem; @@ -329,7 +339,7 @@ private: void _update_speed_demand(void); // Update the demanded height - void _update_height_demand(float demand); + void _update_height_demand(float demand, float state); // Detect an underspeed condition void _detect_underspeed(void); |