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Merge pull request #1104 from philipoe/master 

TECS: Small fix to throttle feed-forward
This commit is contained in:
Lorenz Meier 2014-07-01 11:03:33 +02:00
parent 48f4a1e5cd 534c377ec6
commit 2466cfba3e
1 changed files with 1 additions and 1 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
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@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
if (STEdot_dem >= 0) {
ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);
ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr);
} else {
ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;