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Plane: prevent wind up of Q-mode velocity controller I term

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Paul Riseborough 2023-08-31 11:40:57 +10:00 committed by Andrew Tridgell
parent b3a1807349
commit 7bbd0ed74e
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/quadplane.cpp
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@ -2244,6 +2244,10 @@ void QuadPlane::run_xy_controller(float accel_limit)
pos_control->init_xy_controller();
}
pos_control->set_lean_angle_max_cd(MIN(4500, MAX(accel_to_angle(accel_limit)*100, aparm.angle_max)));
if (q_fwd_throttle > 0.95f) {
// prevent wind up of the velocity controller I term due to a saturated forward throttle
pos_control->set_externally_limited_xy();
}
pos_control->update_xy_controller();
}