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AC_AttitudeControl: use relax_integrator

This commit is contained in:
Leonard Hall 2022-01-08 21:41:11 +10:30 committed by Andrew Tridgell
parent 7b074eeb69
commit 35f44beef5
2 changed files with 4 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -182,9 +182,9 @@ void AC_AttitudeControl::reset_rate_controller_I_terms()
// reset rate controller I terms smoothly to zero in 0.5 seconds
void AC_AttitudeControl::reset_rate_controller_I_terms_smoothly()
{
get_rate_roll_pid().reset_I_smoothly();
get_rate_pitch_pid().reset_I_smoothly();
get_rate_yaw_pid().reset_I_smoothly();
get_rate_roll_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);;
get_rate_pitch_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);;
get_rate_yaw_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);;
}
// The attitude controller works around the concept of the desired attitude, target attitude

1
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -25,6 +25,7 @@
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for roll-pitch axis)
#define AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for yaw axis)
#define AC_ATTITUDE_RATE_RELAX_TC 0.16f // This is used to decay the rate I term to 5% in half a second.
#define AC_ATTITUDE_THRUST_ERROR_ANGLE radians(30.0f) // Thrust angle error above which yaw corrections are limited