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APM_Control: make 2nd reduction of P smaller 

this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
This commit is contained in:
Andrew Tridgell 2021-11-24 19:37:11 +11:00 committed by Randy Mackay
parent 0cdd775d24
commit 5fc3cae33a
1 changed files with 10 additions and 2 deletions
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12
libraries/APM_Control/AP_AutoTune.cpp
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@ -351,8 +351,16 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_e
action = Action::LOWER_D;
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%sD: %.4f", type==AUTOTUNE_ROLL?"Roll":"Pitch", D_limit);
done_count = 0;
} else if (now - P_set_ms > 2000) {
P *= 0.35;
} else if (now - P_set_ms > 2500) {
if (is_positive(P_limit)) {
// if we've already got a P estimate then don't
// reduce as quickly, stopping small spikes at the
// later part of the tune from giving us a very
// low P gain
P *= 0.7;
} else {
P *= 0.35;
}
P_limit = P;
P_set_ms = now;
action = Action::LOWER_P;