mirror of https://github.com/ArduPilot/ardupilot
AC_PID: AC_PID_2D: let I term change direction but not grow when limited
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@ -129,17 +129,18 @@ Vector2f AC_PID_2D::update_all(const Vector3f &target, const Vector3f &measureme
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// If the limit is set the integral is only allowed to reduce in the direction of the limit
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// If the limit is set the integral is only allowed to reduce in the direction of the limit
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void AC_PID_2D::update_i(const Vector2f &limit)
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void AC_PID_2D::update_i(const Vector2f &limit)
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{
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{
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Vector2f limit_direction = limit;
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_pid_info_x.limit = false;
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_pid_info_y.limit = false;
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Vector2f delta_integrator = (_error * _ki) * _dt;
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Vector2f delta_integrator = (_error * _ki) * _dt;
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if (!is_zero(limit_direction.length_squared())) {
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float integrator_length = _integrator.length();
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// zero delta_vel if it will increase the velocity error
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_integrator += delta_integrator;
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limit_direction.normalize();
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// do not let integrator increase in length if delta_integrator is in the direction of limit
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if (is_positive(delta_integrator * limit)) {
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if (is_positive(delta_integrator * limit) && _integrator.limit_length(integrator_length)) {
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delta_integrator.zero();
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_pid_info_x.limit = true;
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}
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_pid_info_y.limit = true;
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}
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}
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_integrator += delta_integrator;
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_integrator.limit_length(_kimax);
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_integrator.limit_length(_kimax);
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}
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}
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