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Refined Throttle Timer reset 

Reduced Loiter I gain to decrease overshoot.
This commit is contained in:
Jason Short 2011-09-22 17:38:39 -07:00
parent 463aa0aa75
commit 5b57df5d1c
3 changed files with 15 additions and 8 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -1095,6 +1095,8 @@ void update_throttle_mode(void)
}else{ }else{
g.rc_3.servo_out = 0; g.rc_3.servo_out = 0;
} }
// reset the timer to throttle so that we never get fast I term run-ups
throttle_timer = 0;
break; break;
case THROTTLE_HOLD: case THROTTLE_HOLD:

13
ArduCopter/Attitude.pde
View File

@ -100,9 +100,17 @@ get_nav_throttle(long z_error, int target_speed)
rate_error = target_speed - altitude_rate; rate_error = target_speed - altitude_rate;
rate_error = constrain(rate_error, -110, 110); rate_error = constrain(rate_error, -110, 110);
float delta_throttle;
// is the throttle_timer uninitialized?
if(throttle_timer == 0){
throttle_timer = millis();
delta_throttle = 0;
}else{
long timer = millis(); long timer = millis();
float delta_throttle = (float)(timer - throttle_timer)/1000.0; delta_throttle = (float)(timer - throttle_timer)/1000.0;
throttle_timer = timer; throttle_timer = timer;
}
return (int)g.pi_throttle.get_pi(rate_error, delta_throttle); return (int)g.pi_throttle.get_pi(rate_error, delta_throttle);
} }
@ -162,9 +170,6 @@ static void reset_nav(void)
nav_throttle = 0; nav_throttle = 0;
invalid_throttle = true; invalid_throttle = true;
// clear the throttle timer
throttle_timer = millis();
g.pi_nav_lat.reset_I(); g.pi_nav_lat.reset_I();
g.pi_nav_lon.reset_I(); g.pi_nav_lon.reset_I();

4
ArduCopter/config.h
View File

@ -485,7 +485,7 @@
# define LOITER_P .4 // # define LOITER_P .4 //
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.04 // # define LOITER_I 0.01 //
#endif #endif
#ifndef LOITER_IMAX #ifndef LOITER_IMAX
# define LOITER_IMAX 12 // degrees° # define LOITER_IMAX 12 // degrees°
@ -513,7 +513,7 @@
# define THROTTLE_P 0.6 // # define THROTTLE_P 0.6 //
#endif #endif
#ifndef THROTTLE_I #ifndef THROTTLE_I
# define THROTTLE_I 0.03 // with 4m error, 12.5s windup # define THROTTLE_I 0.02 // with 4m error, 8 PWM gain/s
#endif #endif
#ifndef THROTTLE_IMAX #ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300 # define THROTTLE_IMAX 300