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AC_CustomControl_PID: set false to avoid hitting limits

This commit is contained in:
xianglunkai 2023-06-15 14:54:19 +08:00 committed by Peter Barker
parent bd30f3ede9
commit 1ab985fff8
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_CustomControl/AC_CustomControl_PID.cpp
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@ -290,9 +290,9 @@ Vector3f AC_CustomControl_PID::update()
// run rate controller
Vector3f gyro_latest = _ahrs->get_gyro_latest();
Vector3f motor_out;
motor_out.x = _pid_atti_rate_roll.update_all(target_rate[0], gyro_latest[0], _dt, true);
motor_out.y = _pid_atti_rate_pitch.update_all(target_rate[1], gyro_latest[1], _dt, true);
motor_out.z = _pid_atti_rate_yaw.update_all(target_rate[2], gyro_latest[2], _dt, true);
motor_out.x = _pid_atti_rate_roll.update_all(target_rate[0], gyro_latest[0], _dt, false);
motor_out.y = _pid_atti_rate_pitch.update_all(target_rate[1], gyro_latest[1], _dt, false);
motor_out.z = _pid_atti_rate_yaw.update_all(target_rate[2], gyro_latest[2], _dt, false);
return motor_out;
}