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tecs msg: changed flight_path_angle to height rate as clearly we are

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looking at height rates

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-09-17 10:27:08 -04:00
committed by Daniel Agar
parent dd63a634b2
commit e17f0802cc
3 changed files with 6 additions and 6 deletions
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src/modules/vtol_att_control/vtol_type.cpp
+2 -2
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@@ -210,8 +210,8 @@ void VtolType::check_quadchute_condition()
// We use tecs for tracking in FW and local_pos_sp during transitions
if (_tecs_running) {
// 1 second rolling average
_ra_hrate = (49 * _ra_hrate + _tecs_status->flight_path_angle) / 50;
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->flight_path_angle_sp) / 50;
_ra_hrate = (49 * _ra_hrate + _tecs_status->height_rate) / 50;
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->height_rate_setpoint) / 50;
// are we dropping while requesting significant ascend?
if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _params->fw_alt_err) &&