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TECS lib: Low-pass height demand to avoid using the motor as a mechanical low-pass filter

This commit is contained in:
Lorenz Meier 2015-08-02 14:50:36 +02:00
parent c0d2b22d00
commit b066a79ca6
1 changed files with 1 additions and 1 deletions
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2
src/lib/external_lgpl/tecs/tecs.cpp
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@ -255,7 +255,7 @@ void TECS::_update_height_demand(float demand, float state)
// // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
// // _hgt_rate_dem);
_hgt_dem_adj = _hgt_dem; //0.025f * _hgt_dem + 0.975f * _hgt_dem_adj_last;
_hgt_dem_adj = 0.1f * _hgt_dem + 0.9f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
_hgt_rate_dem = (_hgt_dem_adj - state) * _heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last) / _DT;