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AC_AttControl: reduce max_rate_step based on hover throttle 

This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
This commit is contained in:
Leonard Hall 2016-08-09 21:35:16 +09:30 committed by Randy Mackay
parent 0051ecb288
commit 29d4790fc7
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -738,7 +738,7 @@ float AC_AttitudeControl::max_rate_step_bf_roll()
{
float alpha = get_rate_roll_pid().get_filt_alpha();
float alpha_remaining = 1-alpha;
return AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX/((alpha_remaining*alpha_remaining*alpha_remaining*alpha*get_rate_roll_pid().kD())/_dt + get_rate_roll_pid().kP());
return 2.0f*_motors.get_throttle_hover()*AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX/((alpha_remaining*alpha_remaining*alpha_remaining*alpha*get_rate_roll_pid().kD())/_dt + get_rate_roll_pid().kP());
}
// Return pitch rate step size in centidegrees/s that results in maximum output after 4 time steps
@ -746,7 +746,7 @@ float AC_AttitudeControl::max_rate_step_bf_pitch()
{
float alpha = get_rate_pitch_pid().get_filt_alpha();
float alpha_remaining = 1-alpha;
return AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX/((alpha_remaining*alpha_remaining*alpha_remaining*alpha*get_rate_pitch_pid().kD())/_dt + get_rate_pitch_pid().kP());
return 2.0f*_motors.get_throttle_hover()*AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX/((alpha_remaining*alpha_remaining*alpha_remaining*alpha*get_rate_pitch_pid().kD())/_dt + get_rate_pitch_pid().kP());
}
// Return yaw rate step size in centidegrees/s that results in maximum output after 4 time steps
@ -754,5 +754,5 @@ float AC_AttitudeControl::max_rate_step_bf_yaw()
{
float alpha = get_rate_yaw_pid().get_filt_alpha();
float alpha_remaining = 1-alpha;
return AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX/((alpha_remaining*alpha_remaining*alpha_remaining*alpha*get_rate_yaw_pid().kD())/_dt + get_rate_yaw_pid().kP());
return 2.0f*_motors.get_throttle_hover()*AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX/((alpha_remaining*alpha_remaining*alpha_remaining*alpha*get_rate_yaw_pid().kD())/_dt + get_rate_yaw_pid().kP());
}