From 3102b9f071d6198f49a9c2b533902b2151941fad Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 27 Oct 2020 09:47:07 +0100 Subject: [PATCH] TECS: remove throttle integral limits Signed-off-by: Silvan Fuhrer --- src/lib/tecs/TECS.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index f059ccb805..1cc4e3aa38 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -352,10 +352,6 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const matrix:: // During climbout, set the integrator to maximum throttle to prevent transient throttle drop // at end of climbout when we transition to closed loop throttle control _throttle_integ_state = integ_state_max; - - } else { - // Respect integrator limits during closed loop operation. - _throttle_integ_state = constrain(_throttle_integ_state, integ_state_min, integ_state_max); } } else {