From d58d13b2e843d4c65c9122725ccf83340f46deb2 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Thu, 26 Aug 2021 14:21:41 +0300 Subject: [PATCH] APX4-1617: Fix manual climb rate in TECS (#1463) * tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system Signed-off-by: RomanBapst --- src/lib/tecs/TECS.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index e02ce6ab4b..aabece77b7 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -448,8 +448,8 @@ void TECS::_updateTrajectoryGenerationConstraints() _velocity_control_traj_generator.setMaxJerk(_jerk_max); _velocity_control_traj_generator.setMaxAccelUp(_vert_accel_limit); _velocity_control_traj_generator.setMaxAccelDown(_vert_accel_limit); - _velocity_control_traj_generator.setMaxVelUp(_max_climb_rate); - _velocity_control_traj_generator.setMaxVelDown(_max_sink_rate); + _velocity_control_traj_generator.setMaxVelUp(_max_sink_rate); // different convention for FW than for MC + _velocity_control_traj_generator.setMaxVelDown(_max_climb_rate); // different convention for FW than for MC } void TECS::_calculateHeightRateSetpoint(float altitude_sp_amsl, float height_rate_sp, float target_climbrate,