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TECS fix height demand change

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This commit is contained in:
Daniel Agar
2017-02-26 00:09:01 -05:00
committed by Lorenz Meier
parent bc8b36a986
commit 22d0e507c6
2 changed files with 7 additions and 16 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+2 -11
View File
@@ -252,18 +252,11 @@ void TECS::_update_height_demand(float demand, float state)
}
_hgt_dem_prev = _hgt_dem;
//
// // Apply first order lag to height demand
// _hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
// _hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
// _hgt_dem_adj_last = _hgt_dem_adj;
//
// // 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);
// Apply first order lag to height demand
_hgt_dem_adj = 0.1f * _hgt_dem + 0.9f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj - state) * _heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last) / _DT;
_hgt_dem_adj_last = _hgt_dem_adj;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
@@ -272,8 +265,6 @@ void TECS::_update_height_demand(float demand, float state)
} else if (_hgt_rate_dem < -_maxSinkRate) {
_hgt_rate_dem = -_maxSinkRate;
}
//warnx("_hgt_rate_dem: %.4f, _hgt_dem_adj %.4f", _hgt_rate_dem, _hgt_dem_adj);
}
void TECS::_detect_underspeed()
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+5 -5
View File
@@ -615,10 +615,10 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
/**
* Height rate P factor
* Height rate proportional factor
*
* @min 0.0
* @max 2.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW TECS
@@ -626,15 +626,15 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
/**
* Height rate FF factor
* Height rate feed forward
*
* @min 0.0
* @max 2.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.1f);
/**
* Speed rate P factor