fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'tecs_experimental_prate' into fw_staging_ouputlimit_master_heightrate

Browse Source
This commit is contained in:
Thomas Gubler 2013-10-31 13:33:52 +01:00
commit cf862bf810
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/lib/external_lgpl/tecs/tecs.cpp
View File

@ -228,7 +228,7 @@ void TECS::_update_height_demand(float demand, float state)
// // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
// // _hgt_rate_dem);
_hgt_dem_adj = 0.05f * demand + 0.95f * _hgt_dem_adj_last;
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj-state)*0.1f; //xxx: parameter