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tecs: fast descend: do not shut down throttle while still climbing (#23397)

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KonradRudin 2024-07-15 10:42:43 +02:00 committed by GitHub
parent b1b0032b8d
commit 59b96f4968
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1 changed files with 7 additions and 2 deletions
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9
src/lib/tecs/TECS.cpp
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@ -524,8 +524,13 @@ void TECSControl::_calcThrottleControl(float dt, const SpecificEnergyRates &spec
float throttle_setpoint{param.throttle_min};
if (1.f - param.fast_descend < FLT_EPSILON) {
// During fast descend, we control airspeed over the pitch control loop and give minimal thrust.
throttle_setpoint = param.throttle_min;
// During fast descend, we control airspeed over the pitch control loop. Give minimal thrust as soon as we are descending
if (specific_energy_rates.spe_rate.estimate > 0) { // We have a positive altitude rate and are stil climbing
throttle_setpoint = param.throttle_trim; // Do not cut off throttle yet
} else {
throttle_setpoint = param.throttle_min;
}
} else {
_calcThrottleControlUpdate(dt, limit, ste_rate, param, flag);