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TECS: Reset integrator states on first run or when DT is large

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Lorenz Meier
2015-07-22 22:40:26 +02:00
parent f94e2c8136
commit 97e9f44d35
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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@@ -45,7 +45,7 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
// DT, baro_altitude, airspeed, rotMat(0, 0), rotMat(1, 1), accel_body(0), accel_body(1), accel_body(2),
// accel_earth(0), accel_earth(1), accel_earth(2));
if (DT > 1.0f) {
if (_update_50hz_last_usec == 0 || DT > 1.0f) {
_integ3_state = baro_altitude;
_integ2_state = 0.0f;
_integ1_state = 0.0f;