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

AP_TECS: Correct an error in the SEBdot FF term.

This commit is contained in:
Samuel Tabor 2018-10-18 14:53:37 +01:00 committed by Andrew Tridgell
parent 247738518e
commit dc8c062fbe
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_TECS/AP_TECS.cpp
View File

@ -861,7 +861,7 @@ void AP_TECS::_update_pitch(void)
// integrator has to catch up before the nose can be raised to reduce speed during climbout.
// During flare a different damping gain is used
float gainInv = (_TAS_state * timeConstant() * GRAVITY_MSS);
float temp = SEB_error + SEBdot_dem * timeConstant();
float temp = SEB_error + 0.5*SEBdot_dem * timeConstant();
float pitch_damp = _ptchDamp;
if (_landing.is_flaring()) {