From 47367aeed526e7ca72e9cb7290e745dc0e6e2061 Mon Sep 17 00:00:00 2001 From: philipoe Date: Wed, 29 Oct 2014 15:56:31 +0100 Subject: [PATCH] TECS: Fix bug (underspeed-condition did not have any effect on throttle) --- src/lib/external_lgpl/tecs/tecs.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 6a2a61b04c..0ed210cf4c 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -299,7 +299,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM // Calculate throttle demand // If underspeed condition is set, then demand full throttle if (_underspeed) { - _throttle_dem_unc = 1.0f; + _throttle_dem = 1.0f; } else { // Calculate gain scaler from specific energy error to throttle @@ -363,10 +363,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM } else { _throttle_dem = ff_throttle; } - } - // Constrain throttle demand - _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + // Constrain throttle demand + _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); + } } void TECS::_detect_bad_descent(void)