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AP_SteerController: change the scaling of the D term

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this should cope better with low speed
This commit is contained in:
Andrew Tridgell 2013-09-16 09:42:45 +10:00
parent 3878d9d09e
commit 3e24ff1b07
1 changed files with 1 additions and 4 deletions
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libraries/APM_Control/AP_SteerController.cpp
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@ -129,10 +129,7 @@ int32_t AP_SteerController::get_steering_out(float desired_accel)
_integrator = constrain_float(_integrator, -intLimScaled, intLimScaled);
// Calculate the demanded control surface deflection
// Note the scaler is applied again. We want a 1/speed scaler applied to the feed-forward
// path, but want a 1/speed^2 scaler applied to the rate error path.
// This is because acceleration scales with speed^2, but rate scales with speed.
_last_out = ( (rate_error * _K_D * 45.0f) + (desired_rate * kp_ff) ) * scaler + _integrator;
_last_out = (rate_error * _K_D * 4.0f) + (desired_rate * kp_ff) * scaler + _integrator;
// Convert to centi-degrees and constrain
return constrain_float(_last_out * 100, -4500, 4500);