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APM_Control: added decay_I() function

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used by VTOL planes to decay integrator on fixed wing components when
at very low airspeed
This commit is contained in:
Andrew Tridgell 2019-07-07 11:27:28 +10:00
parent f5bf610b9a
commit 3f765d8bbe
3 changed files with 25 additions and 1 deletions
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8
libraries/APM_Control/AP_PitchController.h
View File

@ -26,6 +26,14 @@ public:
void reset_I(); void reset_I();
/*
reduce the integrator, used when we have a low scale factor in a quadplane hover
*/
void decay_I() {
// this reduces integrator by 95% over 2s
_pid_info.I *= 0.995f;
}
void autotune_start(void) { autotune.start(); } void autotune_start(void) { autotune.start(); }
void autotune_restore(void) { autotune.stop(); } void autotune_restore(void) { autotune.stop(); }

8
libraries/APM_Control/AP_RollController.h
View File

@ -26,6 +26,14 @@ public:
void reset_I(); void reset_I();
/*
reduce the integrator, used when we have a low scale factor in a quadplane hover
*/
void decay_I() {
// this reduces integrator by 95% over 2s
_pid_info.I *= 0.995f;
}
void autotune_start(void) { autotune.start(); } void autotune_start(void) { autotune.start(); }
void autotune_restore(void) { autotune.stop(); } void autotune_restore(void) { autotune.stop(); }

10
libraries/APM_Control/AP_YawController.h
View File

@ -26,7 +26,15 @@ public:
void reset_I(); void reset_I();
const DataFlash_Class::PID_Info& get_pid_info(void) const {return _pid_info; } const DataFlash_Class::PID_Info& get_pid_info(void) const {return _pid_info; }
/*
reduce the integrator, used when we have a low scale factor in a quadplane hover
*/
void decay_I() {
// this reduces integrator by 95% over 2s
_pid_info.I *= 0.995f;
}
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];