From c1e1d0b03124acc6754ace6f6fa42cf84f6ca41d Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 18 Feb 2016 16:02:50 +0100 Subject: [PATCH] put TECS init bug to rest: the uncostrained demanded pitch was never initialized which could lead to large initial pitch integral values --- src/lib/external_lgpl/tecs/tecs.cpp | 1 + src/lib/external_lgpl/tecs/tecs.h | 1 + 2 files changed, 2 insertions(+) diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 9fc847e440..cd66fbf311 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -512,6 +512,7 @@ void TECS::_initialise_states(float pitch, float throttle_cruise, float baro_alt _hgt_dem_in_old = _hgt_dem_adj_last; _TAS_dem_last = _TAS_dem; _TAS_dem_adj = _TAS_dem; + _pitch_dem_unc = pitch; _underspeed = false; _badDescent = false; diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index 1ca7428849..9a8882ab56 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -72,6 +72,7 @@ public: _detect_underspeed_enabled(true), _badDescent(false), _climbOutDem(false), + _pitch_dem_unc(0.0f), _SPE_dem(0.0f), _SKE_dem(0.0f), _SPEdot_dem(0.0f),