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AP_TECS: added get_max_sinkrate() API

This commit is contained in:
Andrew Tridgell 2021-06-01 15:32:21 +10:00
parent 77ee922473
commit a789bb372b
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_TECS/AP_TECS.h
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@ -81,6 +81,11 @@ public:
return _maxClimbRate; return _maxClimbRate;
} }
// return maximum sink rate (+ve number down)
float get_max_sinkrate(void) const override {
return _maxSinkRate;
}
// added to let SoaringContoller reset pitch integrator to zero // added to let SoaringContoller reset pitch integrator to zero
void reset_pitch_I(void) override { void reset_pitch_I(void) override {
_integSEB_state = 0.0f; _integSEB_state = 0.0f;