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AC_PosControl: bugfix for freezing I-term build-up

This commit is contained in:
Randy Mackay 2014-04-23 11:16:41 +09:00
parent 559a258ede
commit 09a35cf90f
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -618,7 +618,7 @@ void AC_PosControl::rate_to_accel_xy(float dt)
lat_i = _pid_rate_lat.get_i(_vel_error.x, dt);
}
if ((!_limit.accel_xy && !_motors.limit.throttle_upper) || ((lon_i>0&&_vel_error.y<0)||(lon_i<0&&_vel_error.y>0))) {
lon_i = _pid_rate_lat.get_i(_vel_error.y, dt);
lon_i = _pid_rate_lon.get_i(_vel_error.y, dt);
}
// combine feed forward accel with PID output from velocity error