Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Call new TECS method in case of altitude change

Browse Source
This commit is contained in:
George Zogopoulos 2024-11-19 12:41:38 +01:00 committed by Andrew Tridgell
parent e81ef4c131
commit c7dd3d8b64
2 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/altitude.cpp
View File

@ -44,7 +44,7 @@ void Plane::check_home_alt_change(void)
next_WP_loc.alt += alt_change_cm; next_WP_loc.alt += alt_change_cm;
} }
// reset TECS to force the field elevation estimate to reset // reset TECS to force the field elevation estimate to reset
TECS_controller.reset(); TECS_controller.offset_altitude(alt_change_cm * 0.01f);
} }
auto_state.last_home_alt_cm = home_alt_cm; auto_state.last_home_alt_cm = home_alt_cm;
} }

1
libraries/AP_TECS/AP_TECS.cpp
View File

@ -1524,4 +1524,5 @@ void AP_TECS::offset_altitude(const float alt_offset)
// _hgt_dem // _hgt_dem
// _hgt_dem_in_raw // _hgt_dem_in_raw
// _hgt_dem_in // _hgt_dem_in
// Energies
} }