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TECS: fix: reset altitude reference model if we're using the height rate interface

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2025-08-21 17:07:25 +02:00
parent 138427b3a8
commit 7f5973e91f
1 changed files with 2 additions and 2 deletions
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4
src/lib/tecs/TECS.cpp
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@ -745,8 +745,8 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set
_airspeed_filter.update(dt, airspeed_input, _airspeed_filter_param, _control_flag.airspeed_enabled);
// Update Reference model submodule
if (1.f - _fast_descend < FLT_EPSILON) {
// Reset the altitude reference model, while we are in fast descend.
if (1.f - _fast_descend < FLT_EPSILON || !PX4_ISFINITE(hgt_rate_sp)) {
// Reset the altitude reference model while we are in fast descend or in height rate control mode
const TECSAltitudeReferenceModel::AltitudeReferenceState init_state{
.alt = altitude,
.alt_rate = hgt_rate};