mirror of https://github.com/ArduPilot/ardupilot
AC_AttitudeControl: use relax_integrator
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@ -182,9 +182,9 @@ void AC_AttitudeControl::reset_rate_controller_I_terms()
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// reset rate controller I terms smoothly to zero in 0.5 seconds
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void AC_AttitudeControl::reset_rate_controller_I_terms_smoothly()
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{
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get_rate_roll_pid().reset_I_smoothly();
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get_rate_pitch_pid().reset_I_smoothly();
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get_rate_yaw_pid().reset_I_smoothly();
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get_rate_roll_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);;
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get_rate_pitch_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);;
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get_rate_yaw_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);;
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}
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// The attitude controller works around the concept of the desired attitude, target attitude
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@ -25,6 +25,7 @@
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#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
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#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for roll-pitch axis)
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#define AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for yaw axis)
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#define AC_ATTITUDE_RATE_RELAX_TC 0.16f // This is used to decay the rate I term to 5% in half a second.
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#define AC_ATTITUDE_THRUST_ERROR_ANGLE radians(30.0f) // Thrust angle error above which yaw corrections are limited
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