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tecs: Remove redundant code

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The if() statement was there as provision to do something different with the speed demand derivative limits if an abnormal condition was present, however we have no basis for assigning different limits at this point in time.
This commit is contained in:
Paul Riseborough
2018-01-29 07:21:18 +11:00
committed by Lorenz Meier
parent f016e66ff8
commit 1ddd94f237
1 changed files with 4 additions and 13 deletions
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tecs/tecs.cpp
+4 -13
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@@ -206,24 +206,15 @@ void TECS::_update_speed_setpoint()
// Set the airspeed demand to the minimum value if an underspeed or
// or a uncontrolled descent condition exists to maximise climb rate
if ((_uncommanded_descent_recovery) || (_underspeed_detected)) {
_TAS_setpoint = _TAS_min;
_TAS_setpoint = _TAS_min;
}
_TAS_setpoint = constrain(_TAS_setpoint, _TAS_min, _TAS_max);
// Apply limits on the demanded rate of change of speed based on physical performance limits
// Calculate limits for the demanded rate of change of speed based on physical performance limits
// with a 50% margin to allow the total energy controller to correct for errors.
float velRateMax;
float velRateMin;
if ((_uncommanded_descent_recovery) || (_underspeed_detected)) {
velRateMax = 0.5f * _STE_rate_max / _tas_state;
velRateMin = 0.5f * _STE_rate_min / _tas_state;
} else {
velRateMax = 0.5f * _STE_rate_max / _tas_state;
velRateMin = 0.5f * _STE_rate_min / _tas_state;
}
float velRateMax = 0.5f * _STE_rate_max / _tas_state;
float velRateMin = 0.5f * _STE_rate_min / _tas_state;
_TAS_setpoint_adj = constrain(_TAS_setpoint, _TAS_min, _TAS_max);