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ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.

This commit is contained in:
Jason Short 2012-03-12 13:11:05 -07:00
parent 38153f15e0
commit 580c5e109e
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -136,7 +136,7 @@ static void calc_loiter(int x_error, int y_error)
//x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed //x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
nav_lon = g.pid_loiter_rate_lon.get_pi(x_rate_error, dTnav); nav_lon = g.pid_loiter_rate_lon.get_pi(x_rate_error, dTnav);
nav_lon -= x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav); nav_lon += x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30° nav_lon = constrain(nav_lon, -3000, 3000); // 30°
// North / South // North / South
@ -144,7 +144,7 @@ static void calc_loiter(int x_error, int y_error)
//y_target_speed = constrain(y_target_speed, -250, 250); //y_target_speed = constrain(y_target_speed, -250, 250);
y_rate_error = y_target_speed - y_actual_speed; y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pid_loiter_rate_lat.get_pi(y_rate_error, dTnav); nav_lat = g.pid_loiter_rate_lat.get_pi(y_rate_error, dTnav);
nav_lat -= y_rate_d * (g.pid_loiter_rate_lat.kD() / dTnav); nav_lat += y_rate_d * (g.pid_loiter_rate_lat.kD() / dTnav);
nav_lat = constrain(nav_lat, -3000, 3000); // 30° nav_lat = constrain(nav_lat, -3000, 3000); // 30°
// copy over I term to Nav_Rate // copy over I term to Nav_Rate