mirror of https://github.com/ArduPilot/ardupilot
eased up on the i term blocker
This commit is contained in:
parent
9e6cf529b9
commit
1f3abcf048
|
@ -12,10 +12,10 @@ get_stabilize_roll(int32_t target_angle)
|
|||
#if FRAME_CONFIG == HELI_FRAME
|
||||
// limit the error we're feeding to the PID
|
||||
error = constrain(error, -4500, 4500);
|
||||
|
||||
|
||||
// convert to desired Rate:
|
||||
rate = g.pi_stabilize_roll.get_pi(error, G_Dt);
|
||||
|
||||
|
||||
// output control:
|
||||
rate = constrain(rate, -4500, 4500);
|
||||
return (int)rate;
|
||||
|
@ -28,7 +28,7 @@ get_stabilize_roll(int32_t target_angle)
|
|||
|
||||
// experiment to pipe iterm directly into the output
|
||||
int16_t iterm = g.pi_stabilize_roll.get_i(error, G_Dt);
|
||||
|
||||
|
||||
// rate control
|
||||
error = rate - (omega.x * DEGX100);
|
||||
rate = g.pi_rate_roll.get_pi(error, G_Dt);
|
||||
|
@ -51,7 +51,7 @@ get_stabilize_pitch(int32_t target_angle)
|
|||
#if FRAME_CONFIG == HELI_FRAME
|
||||
// limit the error we're feeding to the PID
|
||||
error = constrain(error, -4500, 4500);
|
||||
|
||||
|
||||
// convert to desired Rate:
|
||||
rate = g.pi_stabilize_pitch.get_pi(error, G_Dt);
|
||||
|
||||
|
@ -96,8 +96,8 @@ get_stabilize_yaw(int32_t target_angle)
|
|||
|
||||
// experiment to pipe iterm directly into the output
|
||||
int16_t iterm = g.pi_stabilize_yaw.get_i(error, G_Dt);
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters
|
||||
if( !g.heli_ext_gyro_enabled ) {
|
||||
error = rate - (omega.z * DEGX100);
|
||||
rate = g.pi_rate_yaw.get_pi(error, G_Dt);
|
||||
|
@ -121,7 +121,8 @@ get_nav_throttle(int32_t z_error)
|
|||
{
|
||||
int16_t rate_error;
|
||||
|
||||
float dt = (abs(z_error) < 200) ? .1 : 0.0;
|
||||
float dt = (abs(z_error) < 400) ? .1 : 0.0;
|
||||
//float dt = .1;
|
||||
|
||||
// limit error to prevent I term run up
|
||||
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
|
||||
|
|
Loading…
Reference in New Issue