From 1f3abcf0489daa01ee9a589e619fc37925439012 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 10 Dec 2011 23:25:52 -0800 Subject: [PATCH] eased up on the i term blocker --- ArduCopter/Attitude.pde | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index 3d35cb2c44..d39c261b73 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -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);