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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2021-10-27 12:51:43 +03:00
committed by Silvan Fuhrer
parent e36e527488
commit 56cf77a74c
2 changed files with 1 additions and 3 deletions
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src/lib/tecs/TECS.cpp
+1 -1
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@@ -443,7 +443,7 @@ void TECS::_updateTrajectoryGenerationConstraints()
{
_alt_control_traj_generator.setMaxJerk(_jerk_max);
_alt_control_traj_generator.setMaxAccel(_vert_accel_limit);
_alt_control_traj_generator.setMaxVel(max(_max_climb_rate, _max_sink_rate));
_alt_control_traj_generator.setMaxVel(fmax(_max_climb_rate, _max_sink_rate));
_velocity_control_traj_generator.setMaxJerk(_jerk_max);
_velocity_control_traj_generator.setMaxAccelUp(_vert_accel_limit);
src/lib/tecs/TECS.hpp
-2
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@@ -353,8 +353,6 @@ private:
void _updateTrajectoryGenerationConstraints();
void _updateFlightPhase(float altitude_sp_amsl, float height_rate_setpoint);
void _calculateHeightRateSetpoint(float altitude_sp_amsl, float height_rate_sp, float target_climbrate,
float target_sinkrate, float altitude_amsl);