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Merge remote-tracking branch 'upstream/obcfailsafe' into swissfang

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Conflicts:
	src/lib/external_lgpl/tecs/tecs.cpp
	src/modules/commander/commander_params.c
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
	src/modules/navigator/navigator_main.cpp
This commit is contained in:
Thomas Gubler
2014-09-30 15:38:27 +02:00
parent 15eee418a0 ab400089bc
commit cc05f0f185
30 changed files with 1595 additions and 338 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
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@@ -238,6 +238,7 @@ void TECS::_update_height_demand(float demand, float state)
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
_hgt_dem_adj_last = _hgt_dem_adj;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;