fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 17:31:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

TECS: Fix bug (underspeed-condition did not have any effect on throttle)

Browse Source
This commit is contained in:
philipoe
2014-10-29 23:13:51 +01:00
parent 2e33683630
commit 47367aeed5
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/external_lgpl/tecs/tecs.cpp
+4 -4
View File
@@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
// Calculate throttle demand // Calculate throttle demand
// If underspeed condition is set, then demand full throttle // If underspeed condition is set, then demand full throttle
if (_underspeed) { if (_underspeed) {
_throttle_dem_unc = 1.0f; _throttle_dem = 1.0f;
} else { } else {
// Calculate gain scaler from specific energy error to throttle // Calculate gain scaler from specific energy error to throttle
@@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
} else { } else {
_throttle_dem = ff_throttle; _throttle_dem = ff_throttle;
} }
}
// Constrain throttle demand // Constrain throttle demand
_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
}
} }
void TECS::_detect_bad_descent(void) void TECS::_detect_bad_descent(void)