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TECS: separate integral gains for throttle and pitch loops

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-10-08 09:30:15 +02:00
committed by Roman Bapst
parent 72dfb2078a
commit 2ca4269464
5 changed files with 33 additions and 11 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -1
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@@ -100,7 +100,8 @@ FixedwingPositionControl::parameters_update()
_tecs.set_indicated_airspeed_max(_param_fw_airspd_max.get());
_tecs.set_min_sink_rate(_param_fw_t_sink_min.get());
_tecs.set_throttle_damp(_param_fw_t_thr_damp.get());
_tecs.set_integrator_gain(_param_fw_t_integ_gain.get());
_tecs.set_integrator_gain_throttle(_param_fw_t_I_gain_thr.get());
_tecs.set_integrator_gain_pitch(_param_fw_t_I_gain_pit.get());
_tecs.set_throttle_slewrate(_param_fw_thr_slew_max.get());
_tecs.set_vertical_accel_limit(_param_fw_t_vert_acc.get());
_tecs.set_speed_comp_filter_omega(_param_fw_t_spd_omega.get());