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AP_TECS: Constrained throttle in airspeedless #27452

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AP_TECS: Constrained throttle in airspeedless #27452

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9 changes: 8 additions & 1 deletion libraries/AP_TECS/AP_TECS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -823,7 +823,12 @@ void AP_TECS::_update_throttle_with_airspeed(void)
#endif
}

// Constrain throttle demand and record clipping
constrain_throttle();

}

// Constrain throttle demand and record clipping
void AP_TECS::constrain_throttle() {
if (_throttle_dem > _THRmaxf) {
_thr_clip_status = clipStatus::MAX;
_throttle_dem = _THRmaxf;
Expand Down Expand Up @@ -914,6 +919,8 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge, float pi
float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
_throttle_dem = _throttle_dem + STEdot_dem / (_STEdot_max - _STEdot_min) * (_THRmaxf - _THRminf);

constrain_throttle();
}

void AP_TECS::_detect_bad_descent(void)
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3 changes: 3 additions & 0 deletions libraries/AP_TECS/AP_TECS.h
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Expand Up @@ -458,6 +458,9 @@ class AP_TECS {
// Update Demanded Throttle Non-Airspeed
void _update_throttle_without_airspeed(int16_t throttle_nudge, float pitch_trim_deg);

// Constrain throttle demand and record clipping
void constrain_throttle();

// get integral gain which is flight_stage dependent
float _get_i_gain(void);

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