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change calc of hgt_rate_dem to use the filtered height setpoint

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Thomas Gubler
2013-10-31 12:15:14 +01:00
parent 5eea669d62
commit 947207e68d
1 changed files with 1 additions and 1 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
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@@ -231,7 +231,7 @@ void TECS::_update_height_demand(float demand, float state)
_hgt_dem_adj = 0.05f * demand + 0.95f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (demand-state)*0.1f; //xxx: parameter
_hgt_rate_dem = (_hgt_dem_adj-state)*0.1f; //xxx: parameter
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;