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Cleanup

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removed Iterm experiment - no noticeable effect in actual flight
This commit is contained in:
Jason Short 2011-12-16 20:47:11 -08:00
parent bb0f179495
commit 47e4c875e1
2 changed files with 6 additions and 15 deletions
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3
ArduCopter/ArduCopter.pde
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@ -566,9 +566,6 @@ AP_Relay relay;
static bool usb_connected;
#endif
static float roll_I;
static float pitch_I;
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////

18
ArduCopter/Attitude.pde
View File

@ -23,11 +23,8 @@ 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 + roll_I);
rate = g.pi_stabilize_roll.get_p(error);
// experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_roll.get_i(error, G_Dt);
@ -65,11 +62,8 @@ 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_pitch.get_p(error + pitch_I);
rate = g.pi_stabilize_pitch.get_p(error);
// experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_pitch.get_i(error, G_Dt);
@ -152,22 +146,22 @@ get_nav_throttle(int32_t z_error)
static int
get_rate_roll(int32_t target_rate)
{
int32_t error = (target_rate * 3.5) - (degrees(omega.x) * 100.0);
int32_t error = (target_rate * 3.5) - (omega.x * DEGX100);
return g.pi_acro_roll.get_pi(error, G_Dt);
}
static int
get_rate_pitch(int32_t target_rate)
{
int32_t error = (target_rate * 3.5) - (degrees(omega.y) * 100.0);
int32_t error = (target_rate * 3.5) - (omega.y * DEGX100);
return g.pi_acro_pitch.get_pi(error, G_Dt);
}
static int
get_rate_yaw(int32_t target_rate)
{
int32_t error;
error = (target_rate * 4.5) - (degrees(omega.z) * 100.0);
int32_t error = (target_rate * 4.5) - (omega.z * DEGX100);
target_rate = g.pi_rate_yaw.get_pi(error, G_Dt);
// output control: