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climb rate control

This commit is contained in:
Jason Short 2012-01-10 23:32:37 -08:00
parent 439c15f3fc
commit 581657ab7a
1 changed files with 6 additions and 9 deletions
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15
ArduCopter/Attitude.pde
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@ -170,9 +170,6 @@ get_nav_throttle(int32_t z_error)
int16_t rate_error; int16_t rate_error;
int16_t output; int16_t output;
// XXX HACK, need a better way not to ramp this i term in large altitude changes.
float dt = (abs(z_error) < 400) ? .1 : 0.0;
// limit error to prevent I term run up // limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
@ -180,7 +177,7 @@ get_nav_throttle(int32_t z_error)
rate_error = g.pi_alt_hold.get_p(z_error); //_p = .85 rate_error = g.pi_alt_hold.get_p(z_error); //_p = .85
// experiment to pipe iterm directly into the output // experiment to pipe iterm directly into the output
int16_t iterm = g.pi_alt_hold.get_i(z_error, dt); int16_t iterm = g.pi_alt_hold.get_i(z_error, .1);
// calculate rate error // calculate rate error
rate_error = rate_error - climb_rate; rate_error = rate_error - climb_rate;
@ -228,11 +225,11 @@ get_rate_yaw(int32_t target_rate)
// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc. // Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
// Keeps outdated data out of our calculations // Keeps outdated data out of our calculations
static void reset_hold_I(void) //static void reset_hold_I(void)
{ //{
g.pi_loiter_lat.reset_I(); // g.pi_loiter_lat.reset_I();
g.pi_loiter_lon.reset_I(); // g.pi_loiter_lon.reset_I();
} //}
// Keeps old data out of our calculation / logs // Keeps old data out of our calculation / logs
static void reset_nav(void) static void reset_nav(void)