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TECS: protect against NAN in pitch integrator by limiting tas input to min tas

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2025-05-26 14:47:38 +02:00
parent 817b0191e7
commit 83280dcfec
1 changed files with 1 additions and 1 deletions
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src/lib/tecs/TECS.cpp
+1 -1
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@@ -469,7 +469,7 @@ void TECSControl::_calcPitchControlUpdate(float dt, const Input &input, const Co
if (param.integrator_gain_pitch > FLT_EPSILON) { if (param.integrator_gain_pitch > FLT_EPSILON) {
// Calculate derivative from change in climb angle to rate of change of specific energy balance // 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 // Calculate pitch integrator input term
float pitch_integ_input = _getControlError(seb_rate) * param.integrator_gain_pitch / climb_angle_to_SEB_rate; float pitch_integ_input = _getControlError(seb_rate) * param.integrator_gain_pitch / climb_angle_to_SEB_rate;