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Move the last throttle demand setting to a better position

This commit is contained in:
Lorenz Meier 2014-08-01 13:04:28 +02:00
parent 1300c9a975
commit 8e33278c4c
1 changed files with 4 additions and 1 deletions
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5
src/lib/external_lgpl/tecs/tecs.cpp
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@ -327,9 +327,12 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
_throttle_dem = constrain(_throttle_dem,
_last_throttle_dem - thrRateIncr,
_last_throttle_dem + thrRateIncr);
_last_throttle_dem = _throttle_dem;
}
// Ensure _last_throttle_dem is always initialized properly
// Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!!
_last_throttle_dem = _throttle_dem;
// Calculate integrator state upper and lower limits
// Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand