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Fix TECS throttle integrator runaway (#26472)

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Jaeyoung Lim
2026-02-13 05:41:27 -07:00
committed by GitHub
parent 14cbcee49f
commit b9f4de0b51
1 changed files with 3 additions and 1 deletions
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src/lib/tecs/TECS.cpp
+3 -1
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@@ -590,7 +590,9 @@ void TECSControl::_calcThrottleControlUpdate(float dt, const STERateLimit &limit
if (_throttle_setpoint >= param.throttle_max) { if (_throttle_setpoint >= param.throttle_max) {
throttle_integ_input = math::min(0.f, throttle_integ_input); throttle_integ_input = math::min(0.f, throttle_integ_input);
} else if (_throttle_setpoint <= param.throttle_min) { }
if (_throttle_setpoint <= param.throttle_min) {
throttle_integ_input = math::max(0.f, throttle_integ_input); throttle_integ_input = math::max(0.f, throttle_integ_input);
} }