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ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)

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This commit is contained in:
rmackay9 2012-12-06 10:27:38 +09:00
parent 269e02ee93
commit 2dd4694eef
1 changed files with 5 additions and 4 deletions
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9
ArduCopter/Attitude.pde
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@ -819,9 +819,9 @@ get_throttle_accel(int16_t z_target_accel)
if( motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT) ) {
i = g.pid_throttle_accel.get_integrator();
}else{
i = g.pid_throttle_accel.get_i(z_accel_error, .02);
i = g.pid_throttle_accel.get_i(z_accel_error, .01);
}
d = g.pid_throttle_accel.get_d(z_accel_error, .02);
d = g.pid_throttle_accel.get_d(z_accel_error, .01);
//
// limit the rate
@ -833,11 +833,11 @@ get_throttle_accel(int16_t z_target_accel)
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_THROTTLE_KP ) {
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_THR_ACCEL_KD || g.radio_tuning == CH6_THROTTLE_KP) ) {
log_counter++;
if( log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
log_counter = 0;
Log_Write_PID(CH6_THROTTLE_KP, z_accel_error, p, i, d, output, tuning_value);
Log_Write_PID(CH6_THR_ACCEL_KD, z_accel_error, p, i, d, output, tuning_value);
}
}
#endif
@ -982,6 +982,7 @@ get_throttle_rate(int16_t z_target_speed)
}
// update throttle cruise
// TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration
if( z_target_speed == 0 ) {
update_throttle_cruise(g.rc_3.servo_out);
}