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APM_Control: fix throttle and steering integrator calc

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This commit is contained in:
Randy Mackay 2017-10-05 15:31:13 +09:00
parent f00f650f4f
commit 7e5f98b535
1 changed files with 2 additions and 2 deletions
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4
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -218,7 +218,7 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
float p = _steer_rate_pid.get_p(); float p = _steer_rate_pid.get_p();
// get i unless moving at low speed or steering output has hit a limit // get i unless moving at low speed or steering output has hit a limit
float i = 0.0f; float i = _steer_rate_pid.get_integrator();
if (!low_speed && ((is_negative(rate_error) && !motor_limit_left) || (is_positive(rate_error) && !motor_limit_right))) { if (!low_speed && ((is_negative(rate_error) && !motor_limit_left) || (is_positive(rate_error) && !motor_limit_right))) {
i = _steer_rate_pid.get_i(); i = _steer_rate_pid.get_i();
} }
@ -273,7 +273,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool skid_
float p = _throttle_speed_pid.get_p(); float p = _throttle_speed_pid.get_p();
// get i unless moving at low speed or motors have hit a limit // get i unless moving at low speed or motors have hit a limit
float i = 0.0f; float i = _throttle_speed_pid.get_integrator();
if ((is_negative(speed_error) && !motor_limit_low && !_throttle_limit_low) || (is_positive(speed_error) && !motor_limit_high && !_throttle_limit_high)) { if ((is_negative(speed_error) && !motor_limit_low && !_throttle_limit_low) || (is_positive(speed_error) && !motor_limit_high && !_throttle_limit_high)) {
i = _throttle_speed_pid.get_i(); i = _throttle_speed_pid.get_i();
} }