Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_TECS: change order of update_speed() so it's not using the previous EAS_dem 

bug reported by @NUAAFLY https://github.com/diydrones/ardupilot/issues/1547
This commit is contained in:
Tom Pittenger 2016-02-12 13:23:02 -08:00
parent afe9f544e5
commit da01ceee53
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_TECS/AP_TECS.cpp
View File

@ -874,12 +874,13 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
_is_doing_auto_land = is_doing_auto_land;
_distance_beyond_land_wp = distance_beyond_land_wp;
// Update the speed estimate using a 2nd order complementary filter
_update_speed(load_factor);
// Convert inputs
_hgt_dem = hgt_dem_cm * 0.01f;
_EAS_dem = EAS_dem_cm * 0.01f;
// Update the speed estimate using a 2nd order complementary filter
_update_speed(load_factor);
if (aparm.takeoff_throttle_max != 0 &&
(_flight_stage == AP_TECS::FLIGHT_TAKEOFF || _flight_stage == AP_TECS::FLIGHT_LAND_ABORT)) {
_THRmaxf = aparm.takeoff_throttle_max * 0.01f;