Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Jason Short 2012-03-12 13:11:05 -07:00
parent 0b51d9b8b0
commit 73e2bd6cd8
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/navigation.pde
View File

@ -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_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 -= 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°
// 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_rate_error = y_target_speed - y_actual_speed;
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°
// copy over I term to Nav_Rate