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tecs: zero guard ste rates and airspeed setpoint rates

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This commit is contained in:
Thomas Stastny
2022-07-18 10:49:27 -04:00
committed by Daniel Agar
parent 63e4ea23b7
commit 1782f9cd3e
2 changed files with 6 additions and 7 deletions
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src/lib/tecs/TECS.hpp
+2 -2
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@@ -291,8 +291,8 @@ private:
// vehicle physical limits
float _pitch_setpoint_unc{0.0f}; ///< pitch demand before limiting (rad)
float _STE_rate_max{0.0f}; ///< specific total energy rate upper limit achieved when throttle is at _throttle_setpoint_max (m**2/sec**3)
float _STE_rate_min{0.0f}; ///< specific total energy rate lower limit acheived when throttle is at _throttle_setpoint_min (m**2/sec**3)
float _STE_rate_max{FLT_EPSILON}; ///< specific total energy rate upper limit achieved when throttle is at _throttle_setpoint_max (m**2/sec**3)
float _STE_rate_min{-FLT_EPSILON}; ///< specific total energy rate lower limit acheived when throttle is at _throttle_setpoint_min (m**2/sec**3)
float _throttle_setpoint_max{0.0f}; ///< normalised throttle upper limit
float _throttle_setpoint_min{0.0f}; ///< normalised throttle lower limit
float _throttle_trim{0.0f}; ///< throttle required to fly level at _EAS_setpoint, compensated for air density and vehicle weight