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Merge pull request #372 from PX4/pr-tecs_init 

TECS initialize throttle integrator at cruise if in air
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Paul Riseborough 2017-12-28 09:09:14 +11:00 committed by GitHub
parent a39c376c26 8320c8ba14
commit bdbc05cf91
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1 changed files with 1 additions and 1 deletions
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tecs/tecs.cpp
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@ -531,7 +531,7 @@ void TECS::_initialize_states(float pitch, float throttle_cruise, float baro_alt
_vert_pos_state = baro_altitude; _vert_pos_state = baro_altitude;
_tas_rate_state = 0.0f; _tas_rate_state = 0.0f;
_tas_state = _EAS * EAS2TAS; _tas_state = _EAS * EAS2TAS;
_throttle_integ_state = 0.0f; _throttle_integ_state = (_in_air ? throttle_cruise : 0.0f);
_pitch_integ_state = 0.0f; _pitch_integ_state = 0.0f;
_last_throttle_setpoint = throttle_cruise; _last_throttle_setpoint = throttle_cruise;
_last_pitch_setpoint = constrain(pitch, _pitch_setpoint_min, _pitch_setpoint_max); _last_pitch_setpoint = constrain(pitch, _pitch_setpoint_min, _pitch_setpoint_max);