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TECS: add feedforward gain for total energy balance rate

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2021-03-15 11:47:07 -04:00
committed by Daniel Agar
parent edd42cfa86
commit 82a2126f97
5 changed files with 20 additions and 1 deletions
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src/lib/tecs/TECS.cpp
+2 -1
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@@ -436,7 +436,8 @@ void TECS::_update_pitch_setpoint()
}
// Calculate a specific energy correction that doesn't include the integrator contribution
float SEB_rate_correction = _SEB_rate_error * _pitch_damping_gain + _pitch_integ_state + SEB_rate_setpoint;
float SEB_rate_correction = _SEB_rate_error * _pitch_damping_gain + _pitch_integ_state + _SEB_rate_ff *
SEB_rate_setpoint;
// During climbout, bias the demanded pitch angle so that a zero speed error produces a pitch angle
// demand equal to the minimum pitch angle set by the mission plan. This prevents the integrator