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TECS: remove airspeed adaption in case of underspeed

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-07-12 20:46:22 +02:00
committed by Thomas Stastny
parent 4dda99c80b
commit a6fcf7b48c
3 changed files with 2 additions and 34 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+1 -2
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@@ -132,7 +132,6 @@ FixedwingPositionControl::parameters_update()
_tecs.set_speed_weight(_param_fw_t_spdweight.get());
_tecs.set_equivalent_airspeed_trim(_param_fw_airspd_trim.get());
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get());
_tecs.set_equivalent_airspeed_max(_param_fw_airspd_max.get());
_tecs.set_throttle_damp(_param_fw_t_thr_damp.get());
_tecs.set_integrator_gain_throttle(_param_fw_t_I_gain_thr.get());
_tecs.set_integrator_gain_pitch(_param_fw_t_I_gain_pit.get());
@@ -1210,7 +1209,7 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
tecs_fw_thr_max,
_param_sinkrate_target.get(),
_param_climbrate_target.get(),
tecs_status_s::TECS_MODE_NORMAL,
false,
pos_sp_curr.vz);
}