From b066a79ca6057294babe244a3155a6cc099b70af Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 2 Aug 2015 14:50:36 +0200 Subject: [PATCH] TECS lib: Low-pass height demand to avoid using the motor as a mechanical low-pass filter --- src/lib/external_lgpl/tecs/tecs.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index e80c418b14..6f049d4f52 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -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;