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Merge pull request #1413 from philipoe/PR1

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TECS: Fix bug (underspeed-condition did not have any effect on throttle)
This commit is contained in:
Lorenz Meier
2014-10-30 09:58:58 +01:00
parent a82f4881c7 02e35991d5
commit 5500fcdf12
2 changed files with 4 additions and 7 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+4 -4
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@@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
// Calculate throttle demand
// If underspeed condition is set, then demand full throttle
if (_underspeed) {
_throttle_dem_unc = 1.0f;
_throttle_dem = 1.0f;
} else {
// Calculate gain scaler from specific energy error to throttle
@@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
} else {
_throttle_dem = ff_throttle;
}
}
// Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
// Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
}
}
void TECS::_detect_bad_descent(void)
src/lib/external_lgpl/tecs/tecs.h
-3
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@@ -345,9 +345,6 @@ private:
// climbout mode
bool _climbOutDem;
// throttle demand before limiting
float _throttle_dem_unc;
// pitch demand before limiting
float _pitch_dem_unc;