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AP-TECS: constrain proportion to 0-1 for spdweight scale so it doesn't grow backup after land point

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This commit is contained in:
Tom Pittenger 2016-04-21 17:13:15 -07:00
parent f12658dd20
commit 431b3c7160
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_TECS/AP_TECS.cpp
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@ -761,7 +761,7 @@ void AP_TECS::_update_pitch(void)
} else if (_flags.is_doing_auto_land) {
if (_spdWeightLand < 0) {
// use sliding scale from normal weight down to zero at landing
float scaled_weight = _spdWeight * (1.0f - _path_proportion);
float scaled_weight = _spdWeight * (1.0f - constrain_float(_path_proportion,0,1));
SKE_weighting = constrain_float(scaled_weight, 0.0f, 2.0f);
} else {
SKE_weighting = constrain_float(_spdWeightLand, 0.0f, 2.0f);