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TECS.cpp: Remove redundant throttle saturation

This commit is contained in:
Ryan Beall 2022-07-19 17:14:09 -04:00 committed by Tom Pittenger
parent ccc25cb8d7
commit 033266f94b
1 changed files with 3 additions and 12 deletions
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15
libraries/AP_TECS/AP_TECS.cpp
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@ -664,17 +664,6 @@ void AP_TECS::_update_throttle_with_airspeed(void)
} }
_throttle_dem = (_STE_error + STEdot_error * throttle_damp) * K_STE2Thr + ff_throttle; _throttle_dem = (_STE_error + STEdot_error * throttle_damp) * K_STE2Thr + ff_throttle;
// Constrain throttle demand and record clipping
if (_throttle_dem > _THRmaxf) {
_thr_clip_status = ThrClipStatus::MAX;
_throttle_dem = _THRmaxf;
} else if (_throttle_dem < _THRminf) {
_thr_clip_status = ThrClipStatus::MIN;
_throttle_dem = _THRminf;
} else {
_thr_clip_status = ThrClipStatus::NONE;
}
float THRminf_clipped_to_zero = constrain_float(_THRminf, 0, _THRmaxf); float THRminf_clipped_to_zero = constrain_float(_THRminf, 0, _THRmaxf);
// Calculate integrator state upper and lower limits // Calculate integrator state upper and lower limits
@ -720,13 +709,15 @@ void AP_TECS::_update_throttle_with_airspeed(void)
_throttle_dem = _throttle_dem + _integTHR_state; _throttle_dem = _throttle_dem + _integTHR_state;
} }
// Constrain throttle demand and record clip status // Constrain throttle demand and record clipping
if (_throttle_dem > _THRmaxf) { if (_throttle_dem > _THRmaxf) {
_thr_clip_status = ThrClipStatus::MAX; _thr_clip_status = ThrClipStatus::MAX;
_throttle_dem = _THRmaxf; _throttle_dem = _THRmaxf;
} else if (_throttle_dem < _THRminf) { } else if (_throttle_dem < _THRminf) {
_thr_clip_status = ThrClipStatus::MIN; _thr_clip_status = ThrClipStatus::MIN;
_throttle_dem = _THRminf; _throttle_dem = _THRminf;
} else {
_thr_clip_status = ThrClipStatus::NONE;
} }
} }