diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 22135cd2c1..1fff4472c0 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -475,20 +475,6 @@ void TECS::_update_pitch(void) SEB_correction += _PITCHminf * gainInv; } - // Apply max and min values for integrator state that will allow for no more than - // 10deg of saturation. This allows for some pitch variation due to gusts before the - // integrator is clipped. Otherwise the effectiveness of the integrator will be reduced in turbulence - float integ7_err_min = (gainInv * (_PITCHminf - math::radians(10.0f))) - SEB_correction; - float integ7_err_max = (gainInv * (_PITCHmaxf + math::radians(10.0f))) - SEB_correction; - _integ7_state = constrain(_integ7_state, integ7_err_min, integ7_err_max); - - // if the specific engergy balance correction term produces a demanded pitch value which exceeds the aircraft pitch limits - // then zero the integrator. Not doing so can lead to the integrator value being shifted to large unwanted values due to the - // constraint right above this comment - if (SEB_correction / gainInv > (_PITCHmaxf + math::radians(10.0f)) || SEB_correction / gainInv < (_PITCHminf - math::radians(10.0f))) { - _integ7_state = 0.0f; - } - // Calculate pitch demand from specific energy balance signals _pitch_dem_unc = (SEB_correction + _integ7_state) / gainInv;