fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 13:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

TECS fix height demand change

Browse Source
This commit is contained in:
Daniel Agar
2017-04-05 09:31:20 +02:00
committed by Lorenz Meier
parent bc8b36a986
commit 22d0e507c6
2 changed files with 7 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/external_lgpl/tecs/tecs.cpp
+2 -11
View File
@@ -252,18 +252,11 @@ void TECS::_update_height_demand(float demand, float state)
}
_hgt_dem_prev = _hgt_dem;
//
// // Apply first order lag to height demand
// _hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
// _hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
// _hgt_dem_adj_last = _hgt_dem_adj;
//
// // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
// // _hgt_rate_dem);
// Apply first order lag to height demand
_hgt_dem_adj = 0.1f * _hgt_dem + 0.9f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj - state) * _heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last) / _DT;
_hgt_dem_adj_last = _hgt_dem_adj;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
@@ -272,8 +265,6 @@ void TECS::_update_height_demand(float demand, float state)
} else if (_hgt_rate_dem < -_maxSinkRate) {
_hgt_rate_dem = -_maxSinkRate;
}
//warnx("_hgt_rate_dem: %.4f, _hgt_dem_adj %.4f", _hgt_rate_dem, _hgt_dem_adj);
}
void TECS::_detect_underspeed()