TECS: add feedforward gain for total energy balance rate

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -125,6 +125,7 @@ FixedwingPositionControl::parameters_update()
 	_tecs.set_airspeed_error_time_constant(_param_fw_t_tas_error_tc.get());
 	_tecs.set_ste_rate_time_const(_param_ste_rate_time_const.get());
 	_tecs.set_speed_derivative_time_constant(_param_tas_rate_time_const.get());
+	_tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get());
 
 
 	// Landing slope

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -394,6 +394,7 @@ private:
 		(ParamFloat<px4::params::FW_T_VERT_ACC>) _param_fw_t_vert_acc,
 		(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
 		(ParamFloat<px4::params::FW_T_TAS_R_TC>) _param_tas_rate_time_const,
+		(ParamFloat<px4::params::FW_T_SEB_R_FF>) _param_seb_rate_ff,
 
 		(ParamFloat<px4::params::FW_THR_ALT_SCL>) _param_fw_thr_alt_scl,
 		(ParamFloat<px4::params::FW_THR_CRUISE>) _param_fw_thr_cruise,

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -761,3 +761,16 @@ PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f);
  * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_TAS_R_TC, 0.2f);
+
+
+/**
+ * Specific total energy balance rate feedforward gain.
+ *
+ *
+ * @min 0.5
+ * @max 3
+ * @decimal 2
+ * @increment 0.01
+ * @group FW TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);