From d944eeabf08620413c4d99c26de339fd6f6e7e8c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 31 Oct 2013 13:32:42 +0100 Subject: remove filtering of height setpoint --- src/lib/external_lgpl/tecs/tecs.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/lib') diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index baf893dd2..5cbc19dbb 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -228,7 +228,7 @@ void TECS::_update_height_demand(float demand, float state) // // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last, // // _hgt_rate_dem); - _hgt_dem_adj = 0.05f * demand + 0.95f * _hgt_dem_adj_last; + _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; _hgt_dem_adj_last = _hgt_dem_adj; _hgt_rate_dem = (_hgt_dem_adj-state)*0.1f; //xxx: parameter -- cgit v1.2.3