fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 12:57:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

TECS: Small fix to throttle feed-forward

Browse Source
This commit is contained in:
philipoe
2014-07-01 10:49:59 +02:00
parent 48f4a1e5cd
commit 534c377ec6
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
View File
@@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
if (STEdot_dem >= 0) {
ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);
ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr);
} else {
ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;