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Plane: Reset TECS along with the rest of the controllers #27827

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merged 1 commit into from
Oct 16, 2024

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Georacer
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@Georacer Georacer commented Aug 13, 2024

For the balloon drop use-case, I've noticed that TECS would initialize on the ground. That meant that the desired altitude (which is under an LPF) would not start close to the actual altitude, rendering itself useless for an RTL:
image

With this commit TECS starts at the release altitude, resulting in reasonable altitude error:
image

⚠️ Requires #27758 .

@Georacer Georacer marked this pull request as draft August 13, 2024 15:09
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tridge commented Aug 28, 2024

@Georacer this seems good, will you take it out of draft?

@tridge tridge removed the DevCallEU label Aug 28, 2024
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@Georacer this seems good, will you take it out of draft?

If you're convinced by a draft PR and in my absence, maybe I should attend the Dev call less, haha.

Yes, I'll convert it to a normal PR.

@Georacer Georacer force-pushed the pr/wiggle-tecs-reset branch from e9aa49b to 65dc003 Compare August 30, 2024 09:46
@Georacer Georacer changed the title WIP: Plane: Reset TECS along with the rest of the controllers Plane: Reset TECS along with the rest of the controllers Aug 30, 2024
@Georacer Georacer marked this pull request as ready for review August 30, 2024 09:47
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@MattKear MattKear left a comment

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This looks to me. You mention a dependency on #27758. Is that the case?

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Georacer commented Sep 4, 2024

This looks to me. You mention a dependency on #27758. Is that the case?

There is a "shared change" in TECS.cpp that is necessary to get the results that I pasted in the images.

@tridge tridge removed the DevCallEU label Sep 4, 2024
@tridge tridge merged commit 016a81b into ArduPilot:master Oct 16, 2024
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3 participants