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heightrate ff: fix order of calculations

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Thomas Gubler
2014-09-04 12:32:10 +02:00
parent dd1945bb76
commit 4e9a52fe45
1 changed files with 1 additions and 2 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+1 -2
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@@ -236,9 +236,8 @@ void TECS::_update_height_demand(float demand, float state)
// // _hgt_rate_dem); // // _hgt_rate_dem);
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _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_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 // Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) { if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate; _hgt_rate_dem = _maxClimbRate;