void guidance_v_run(bool_t in_flight)
{
// FIXME... SATURATIONS NOT TAKEN INTO ACCOUNT
// AKA SUPERVISION and co
guidance_v_thrust_coeff = get_vertical_thrust_coeff();
if (in_flight) {
int32_t vertical_thrust = (stabilization_cmd[COMMAND_THRUST] * guidance_v_thrust_coeff) >> INT32_TRIG_FRAC;
gv_adapt_run(stateGetAccelNed_i()->z, vertical_thrust, guidance_v_zd_ref);
} else {
void guidance_v_run(bool in_flight)
{
guidance_v_thrust_coeff = get_vertical_thrust_coeff();
if (in_flight) {
/* Only run adaptive throttle estimation if we are in flight and
* the desired vertical velocity (zd) was updated (i.e. we ran hover_loop before).
* This means that the estimation is not updated when using direct throttle commands.
*
* FIXME... SATURATIONS NOT TAKEN INTO ACCOUNT, AKA SUPERVISION and co
*/
if (desired_zd_updated) {
int32_t vertical_thrust = (stabilization_cmd[COMMAND_THRUST] * guidance_v_thrust_coeff) >> INT32_TRIG_FRAC;
gv_adapt_run(stateGetAccelNed_i()->z, vertical_thrust, guidance_v_zd_ref);
}
} else {
