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Fix pilotage script bug

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This commit is contained in:
Ploush 2026-07-19 13:51:14 +02:00
parent 1825b7b395
commit 6c317126bd
1 changed files with 5 additions and 5 deletions
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10
lib/pilotage.lua
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@ -30,6 +30,11 @@ local SIGNE_TANGAGE, SIGNE_ROULIS = -1, -1
function Pilotage.nouveau(conf, etat, materiel, Pid, journal) function Pilotage.nouveau(conf, etat, materiel, Pid, journal)
local p = {} local p = {}
local VMAX = conf.VITESSE_RSC_MAX local VMAX = conf.VITESSE_RSC_MAX
local function borner(v, mini, maxi)
if v < mini then return mini elseif v > maxi then return maxi end
return v
end
local gains = etat.pid or conf.PID local gains = etat.pid or conf.PID
local pidMontee = Pid.nouveau(gains.montee, -VMAX, VMAX, 20) local pidMontee = Pid.nouveau(gains.montee, -VMAX, VMAX, 20)
@ -181,11 +186,6 @@ function Pilotage.nouveau(conf, etat, materiel, Pid, journal)
altPrec, vFiltre = nil, 0 altPrec, vFiltre = nil, 0
end end
local function borner(v, mini, maxi)
if v < mini then return mini elseif v > maxi then return maxi end
return v
end
-- applique base + trim + corrections d'assiette aux 4 helices. -- applique base + trim + corrections d'assiette aux 4 helices.
-- `adapter` (booleen): en quasi-stationnaire, le trim absorbe -- `adapter` (booleen): en quasi-stationnaire, le trim absorbe
-- lentement la composante statique des corrections (CG decale par -- lentement la composante statique des corrections (CG decale par