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Stability patch2 - Jose style.

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This commit is contained in:
Jason Short 2011-12-12 17:45:27 -08:00
parent 6b1bedc381
commit 424a11d269
1 changed files with 10 additions and 1 deletions
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11
ArduCopter/Attitude.pde
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@ -23,8 +23,11 @@ get_stabilize_roll(int32_t target_angle)
// limit the error we're feeding to the PID
error = constrain(error, -2500, 2500);
roll_I += (float)error * .03;
roll_I = constrain(roll_I,-120,120); //+- 1200
// conver to desired Rate:
rate = g.pi_stabilize_roll.get_p(error);
rate = g.pi_stabilize_roll.get_p(error + roll_I);
// experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_roll.get_i(error, G_Dt);
@ -62,6 +65,12 @@ get_stabilize_pitch(int32_t target_angle)
// angle error
error = constrain(error, -2500, 2500);
pitch_I += (float)error * .03;
pitch_I = constrain(pitch_I, -120, 120); // +- 1200
// conver to desired Rate:
rate = g.pi_stabilize_roll.get_p(error + pitch_I);
// convert to desired Rate:
rate = g.pi_stabilize_pitch.get_p(error);