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TECS: Added separate gain / time constant for the throttle loop to allow independent tuning

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philipoe
2014-07-31 15:23:30 +02:00
parent 8dc165b50e
commit fc2e0fad47
2 changed files with 6 additions and 1 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+1 -1
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@@ -298,7 +298,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
} else {
// Calculate gain scaler from specific energy error to throttle
float K_STE2Thr = 1 / (_timeConst * (_STEdot_max - _STEdot_min));
float K_STE2Thr = 1 / (_timeConstThrot * (_STEdot_max - _STEdot_min));
// Calculate feed-forward throttle
float ff_throttle = 0;