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AP_TECS: added function to reset integrator

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akolobov 2017-02-14 07:51:19 +11:00 committed by Andrew Tridgell
parent acddf6bdf3
commit a3f3097941
1 changed files with 5 additions and 0 deletions
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libraries/AP_TECS/AP_TECS.h
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@ -78,6 +78,11 @@ public:
return _maxClimbRate;
}
// added to let SoaringContoller reset pitch integrator to zero
void reset_pitch_I(void) {
_integSEB_state = 0.0f;
}
// return landing sink rate
float get_land_sinkrate(void) const {
return _land_sink;