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ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller.

This commit is contained in:
Jason Short 2012-11-11 18:22:54 -08:00
parent c1b759d5d8
commit 69db678252
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/Attitude.pde
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@ -474,16 +474,16 @@ get_throttle_rate(int16_t z_target_speed)
z_rate_error = z_target_speed - climb_rate; // calc the speed error z_rate_error = z_target_speed - climb_rate; // calc the speed error
#endif #endif
int32_t tmp = (z_target_speed * z_target_speed * (int32_t)g.throttle_cruise) / 200000; int16_t tmp = ((int32_t)z_target_speed * (int32_t)g.throttle_cruise) / 280;
tmp = min(tmp, 500);
if(z_target_speed < 0) tmp = -tmp; if(z_target_speed < 0) tmp = -tmp;
output = constrain(tmp, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t
// separately calculate p, i, d values for logging // separately calculate p, i, d values for logging
p = g.pid_throttle.get_p(z_rate_error); p = g.pid_throttle.get_p(z_rate_error);
// freeze I term if we've breached throttle limits // freeze I term if we've breached throttle limits
if( motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT) ) { if(motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT)) {
i = g.pid_throttle.get_integrator(); i = g.pid_throttle.get_integrator();
}else{ }else{
i = g.pid_throttle.get_i(z_rate_error, .02); i = g.pid_throttle.get_i(z_rate_error, .02);
@ -492,7 +492,7 @@ get_throttle_rate(int16_t z_target_speed)
// //
// limit the rate // limit the rate
output += constrain(p+i+d, -80, 120); output += constrain(p+i+d, -150, 200);
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash