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tecs.cpp: tecs initialisation fixes (#411)

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- zero thrust integrator on initialisation, we already have a cruise throttle
variable
- if initialising from in_air condition set last throttle setpoint to
cruise throttle (_in_air ? throttle_cruise : 0.0f);
This commit is contained in:
Roman Bapst
2018-03-21 11:25:15 +11:00
committed by Paul Riseborough
parent 35bc2cfcd9
commit 7964820412
1 changed files with 2 additions and 2 deletions
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tecs/tecs.cpp
+2 -2
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@@ -522,9 +522,9 @@ void TECS::_initialize_states(float pitch, float throttle_cruise, float baro_alt
_vert_pos_state = baro_altitude;
_tas_rate_state = 0.0f;
_tas_state = _EAS * EAS2TAS;
_throttle_integ_state = (_in_air ? throttle_cruise : 0.0f);
_throttle_integ_state = 0.0f;
_pitch_integ_state = 0.0f;
_last_throttle_setpoint = throttle_cruise;
_last_throttle_setpoint = (_in_air ? throttle_cruise : 0.0f);;
_last_pitch_setpoint = constrain(pitch, _pitch_setpoint_min, _pitch_setpoint_max);
_pitch_setpoint_unc = _last_pitch_setpoint;
_hgt_setpoint_adj_prev = baro_altitude;