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AP_TECS: bring in flare sink rate more slowly

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this should reduce pitch overshoot in the flare
This commit is contained in:
Andrew Tridgell 2014-08-30 05:13:18 +10:00
parent 5af4cefff3
commit 6c1eed0a20
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_TECS/AP_TECS.cpp
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@ -375,7 +375,8 @@ void AP_TECS::_update_height_demand(void)
if (_flare_counter == 0) {
_hgt_rate_dem = _climb_rate;
}
if (_flare_counter < 5) {
// bring it in over 1s to prevent overshoot
if (_flare_counter < 10) {
_hgt_rate_dem = _hgt_rate_dem * 0.8f - 0.2f * _land_sink;
_flare_counter++;
} else {