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Merged master into st24

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Lorenz Meier
2014-10-07 22:49:27 +02:00
parent 8c6c08dcb5 91b4d85b46
commit 4a8d20e2e5
40 changed files with 2060 additions and 383 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
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@@ -236,9 +236,9 @@ void TECS::_update_height_demand(float demand, float state)
// // _hgt_rate_dem);
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
_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;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;