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TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled.

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Konrad
2022-12-21 09:04:19 +01:00
committed by Silvan Fuhrer
parent 77539d4dac
commit 08c36612b3
1 changed files with 0 additions and 4 deletions
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src/lib/tecs/TECS.cpp
-4
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@@ -504,10 +504,6 @@ void TECSControl::_updateThrottleSetpoint(float dt, const SpecificEnergy &se, co
// Add the integrator feedback during closed loop operation with an airspeed sensor // Add the integrator feedback during closed loop operation with an airspeed sensor
throttle_setpoint += _throttle_integ_state; throttle_setpoint += _throttle_integ_state;
} else {
// when flying without an airspeed sensor, use the predicted throttle only
throttle_setpoint = throttle_predicted;
} }
// ramp in max throttle setting with underspeediness value // ramp in max throttle setting with underspeediness value