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Fix TECS init when switching into a altitude controlled mode only once in air #22500

Merged
merged 4 commits into from
Dec 8, 2023
Merged

Fix TECS init when switching into a altitude controlled mode only once in air #22500

merged 4 commits into from
Dec 8, 2023

Commits on Dec 7, 2023

  1. TECS: set _ratio_underspeed to 0 if airspeed disabled 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Dec 7, 2023
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Commits on Dec 8, 2023

  1. TECS: init to airspeed filter to trim airspeed if airspeed-less 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Dec 8, 2023
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  2. TECS: make sure to constrain pitch to current min/max pitch 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Dec 8, 2023
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  3. TECS: init control params to reasonable values 

    The control params (eg min/max pitch) are used before they are
correctly set by TECS::update(). While this is an issue we should fix,
it also doesn't hurt to set them to more reasobale values (eg 30° limit).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Dec 8, 2023
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