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AP_TECS: Fix bug causing plane to fly high on landing approach 

The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This caused the plane to lag behind height changes if the D gain was non-zero, which caused it to fly high during landing approach.
This commit is contained in:
priseborough 2014-12-14 07:25:18 +11:00 committed by Andrew Tridgell
parent 43901dce65
commit e2d47f836e
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_TECS/AP_TECS.cpp
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@ -388,7 +388,6 @@ void AP_TECS::_update_height_demand(void)
// Apply first order lag to height demand
_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
// in final landing stage force height rate demand to the
// configured sink rate and adjust the demanded height to
@ -411,6 +410,7 @@ void AP_TECS::_update_height_demand(void)
_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
_flare_counter = 0;
}
_hgt_dem_adj_last = _hgt_dem_adj;
}
void AP_TECS::_detect_underspeed(void)