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Plane: decay fw rate integrators when at low airspeed

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this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
This commit is contained in:
Andrew Tridgell 2019-07-07 11:22:52 +10:00
parent 3f765d8bbe
commit 85b5223be1
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/Attitude.cpp
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@ -28,6 +28,12 @@ float Plane::get_speed_scaler(void)
if (aspeed < threshold) {
float new_scaler = linear_interpolate(0, g.scaling_speed / threshold, aspeed, 0, threshold);
speed_scaler = MIN(speed_scaler, new_scaler);
// we also decay the integrator to prevent an integrator from before
// we were at low speed persistint at high speed
rollController.decay_I();
pitchController.decay_I();
yawController.decay_I();
}
}
} else {