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add heightrate ff for tecs

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This commit is contained in:
Thomas Gubler
2014-09-04 10:59:35 +02:00
parent ee2eb98167
commit dd1945bb76
4 changed files with 78 additions and 60 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
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@@ -238,7 +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_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p;
_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;