fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-17 13:27:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

TECS: check if integrator update is finit prior applying

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-04-09 10:25:46 +02:00
parent 974ead4015
commit 05672f343d
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/tecs/TECS.cpp
+1 -1
View File
@@ -576,7 +576,7 @@ void TECSControl::_calcThrottleControlUpdate(float dt, const STERateLimit &limit
// Calculate a throttle demand from the integrated total energy rate error
// This will be added to the total throttle demand to compensate for steady state errors
_throttle_integ_state = _throttle_integ_state + throttle_integ_input;
_throttle_integ_state = PX4_ISFINITE(throttle_integ_input) ? _throttle_integ_state + throttle_integ_input : 0.f;
} else {
_throttle_integ_state = 0.0f;