From 0f461f7f602507fc494c11f39bb6326c3b0db977 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Wed, 24 Feb 2021 11:14:08 +0100 Subject: [PATCH] TECS: Fix internal state init if dt is large --- src/lib/tecs/TECS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index 2c444cf191..c6f42f772f 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -536,7 +536,7 @@ void TECS::update_pitch_throttle(float pitch, float baro_altitude, float hgt_set { // Calculate the time since last update (seconds) uint64_t now = hrt_absolute_time(); - _dt = constrain((now - _pitch_update_timestamp) * 1e-6f, DT_MIN, DT_MAX); + _dt = fmaxf((now - _pitch_update_timestamp) * 1e-6f, DT_MIN); // Set class variables from inputs _throttle_setpoint_max = throttle_max;