fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 07:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-08-21 17:47:15 +02:00
parent 138427b3a8
commit 7f5973e91f
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/tecs/TECS.cpp
+2 -2
View File
@@ -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); _airspeed_filter.update(dt, airspeed_input, _airspeed_filter_param, _control_flag.airspeed_enabled);
// Update Reference model submodule // Update Reference model submodule
if (1.f - _fast_descend < FLT_EPSILON) { if (1.f - _fast_descend < FLT_EPSILON || !PX4_ISFINITE(hgt_rate_sp)) {
// Reset the altitude reference model, while we are in fast descend. // Reset the altitude reference model while we are in fast descend or in height rate control mode
const TECSAltitudeReferenceModel::AltitudeReferenceState init_state{ const TECSAltitudeReferenceModel::AltitudeReferenceState init_state{
.alt = altitude, .alt = altitude,
.alt_rate = hgt_rate}; .alt_rate = hgt_rate};