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AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin)

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Makes both feed forward and feed-back consistent
This commit is contained in:
JU Han 2017-08-12 10:27:30 +08:00 committed by Francisco Ferreira
parent 348dbdaf22
commit eebef857f1
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_TECS/AP_TECS.cpp
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@ -608,7 +608,8 @@ void AP_TECS::_update_throttle_with_airspeed(void)
else
{
// Calculate gain scaler from specific energy error to throttle
float K_STE2Thr = 1 / (timeConstant() * (_STEdot_max - _STEdot_min));
// (_STEdot_max - _STEdot_min) / (_THRmaxf - _THRminf) is the derivative of STEdot wrt throttle measured across the max allowed throttle range.
float K_STE2Thr = 1 / (timeConstant() * (_STEdot_max - _STEdot_min) / (_THRmaxf - _THRminf));
// Calculate feed-forward throttle
float ff_throttle = 0;