fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 12:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

add heightrate ff for tecs

Browse Source
This commit is contained in:
Thomas Gubler
2014-09-06 15:15:30 +02:00
committed by Lorenz Meier
parent 421b1b5725
commit e056fbb703
4 changed files with 78 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
View File
@@ -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;