mirror of https://github.com/ArduPilot/ardupilot
Copter: Fix zero throttle flip issue Stabilize
The problem is that the init_targets is intended to ensure the controller doesn't build up the I term when the throttle is low. Because it is poorly named (or used) it have been written to do something else. Here I change it to do what the code is trying to use it to do.
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@ -72,18 +72,9 @@ void AC_AttitudeControl::set_dt(float delta_sec)
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// init_targets - resets target angles to current angles
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void AC_AttitudeControl::init_targets()
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{
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// set earth frame angle targets to current lean angles
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_angle_ef_target.x = _ahrs.roll_sensor;
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_angle_ef_target.y = _ahrs.pitch_sensor;
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_angle_ef_target.z = _ahrs.yaw_sensor;
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// clear body frame angle errors
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_angle_bf_error.zero();
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// clear earth-frame and body-frame feed forward rates
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// ensure zero error in body frame rate controllers
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const Vector3f& gyro = _ins.get_gyro();
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_rate_bf_desired = gyro * AC_ATTITUDE_CONTROL_DEGX100;
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frame_conversion_bf_to_ef(_rate_bf_desired,_rate_ef_desired);
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_rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100;
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}
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//
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