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APM_Control: disable integrator below minimum speed

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this reduces the impact on initial takeoff
This commit is contained in:
Andrew Tridgell 2013-10-05 18:11:35 +10:00
parent 4bc913791f
commit 39bfd809c2
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AP_SteerController.cpp
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@ -113,7 +113,7 @@ int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
// Multiply roll rate error by _ki_rate and integrate // Multiply roll rate error by _ki_rate and integrate
// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs // Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
if (ki_rate > 0) { if (ki_rate > 0 && speed >= _minspeed) {
// only integrate if gain and time step are positive. // only integrate if gain and time step are positive.
if (dt > 0) { if (dt > 0) {
float integrator_delta = rate_error * ki_rate * delta_time * scaler; float integrator_delta = rate_error * ki_rate * delta_time * scaler;