diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index e519246099..5ff73eb83c 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -469,7 +469,7 @@ void TECSControl::_calcPitchControlUpdate(float dt, const Input &input, const Co if (param.integrator_gain_pitch > FLT_EPSILON) { // Calculate derivative from change in climb angle to rate of change of specific energy balance - const float climb_angle_to_SEB_rate = input.tas * CONSTANTS_ONE_G; + const float climb_angle_to_SEB_rate = max(input.tas, param.tas_min) * CONSTANTS_ONE_G; // Calculate pitch integrator input term float pitch_integ_input = _getControlError(seb_rate) * param.integrator_gain_pitch / climb_angle_to_SEB_rate;