additonals for energy ctrl #497
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| @@ -345,7 +353,7 @@ void v_ctl_climb_loop( void ) | |||
| float vdot_err = low_pass_vdot( v_ctl_desired_acceleration - vdot ); | |||
|
|
|||
| // Flight Path Outerloop: positive means needs to climb more: needs extra energy | |||
| float gamma_err = (v_ctl_climb_setpoint - stateGetSpeedEnu_f()->z) / v_ctl_auto_airspeed_setpoint; | |||
| float gamma_err = (v_ctl_climb_setpoint - stateGetSpeedEnu_f()->z) / (*stateGetAirspeed_f()); | |||
There was a problem hiding this comment.
Why divide by current airspeed?
Also needs protection against division by zero!
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
better handling for engine out and max_acc can be set in airframe