MPC: initialize hover thrust with parameter even if using HTE #14715
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The hover thrust estimator (HTE) starts to run after the first thrust setpoint is published. Until then, the feedforward of the vertical velocity controller was unitialized (= 0). This is now set to hover thrust parameter until the estimate is available.
dagar
approved these changes
Apr 20, 2020
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fixes #14704
The hover thrust estimator (HTE) starts to run after the first thrust setpoint is published. Until then, the feedforward of the vertical velocity controller was unitialized (= 0). This is now set to hover thrust parameter until the estimate is available.
Tested in SITL:
Before
After
