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TECS: Fix internal state init if dt is large

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CarlOlsson
2021-02-24 11:14:08 +01:00
committed by Lorenz Meier
parent 114e85d260
commit 0f461f7f60
1 changed files with 1 additions and 1 deletions
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2
src/lib/tecs/TECS.cpp
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@@ -536,7 +536,7 @@ void TECS::update_pitch_throttle(float pitch, float baro_altitude, float hgt_set
{
// Calculate the time since last update (seconds)
uint64_t now = hrt_absolute_time();
_dt = constrain((now - _pitch_update_timestamp) * 1e-6f, DT_MIN, DT_MAX);
_dt = fmaxf((now - _pitch_update_timestamp) * 1e-6f, DT_MIN);
// Set class variables from inputs
_throttle_setpoint_max = throttle_max;