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add heightrate ff for tecs

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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
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src/lib/external_lgpl/tecs/tecs.h
+6
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@@ -47,6 +47,7 @@ public:
_rollComp(0.0f),
_spdWeight(0.5f),
_heightrate_p(0.0f),
_heightrate_ff(0.0f),
_speedrate_p(0.0f),
_throttle_dem(0.0f),
_pitch_dem(0.0f),
@@ -220,6 +221,10 @@ public:
_heightrate_p = heightrate_p;
}
void set_heightrate_ff(float heightrate_ff) {
_heightrate_ff = heightrate_ff;
}
void set_speedrate_p(float speedrate_p) {
_speedrate_p = speedrate_p;
}
@@ -256,6 +261,7 @@ private:
float _rollComp;
float _spdWeight;
float _heightrate_p;
float _heightrate_ff;
float _speedrate_p;
// throttle demand in the range from 0.0 to 1.0