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AC_AttitudeControl: AC_PosControl: Include FF in _pid_vel_xy integrator initialisation

This commit is contained in:
Leonard Hall 2022-12-27 13:51:24 +10:30 committed by Andrew Tridgell
parent ef6cc8912b
commit 95471aaa14
1 changed files with 1 additions and 3 deletions
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4
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -448,8 +448,6 @@ void AC_PosControl::init_xy_controller_stopping_point()
get_stopping_point_xy_cm(_pos_target.xy()); get_stopping_point_xy_cm(_pos_target.xy());
_vel_desired.xy().zero(); _vel_desired.xy().zero();
_accel_desired.xy().zero(); _accel_desired.xy().zero();
_pid_vel_xy.set_integrator(_accel_target);
} }
// relax_velocity_controller_xy - initialise the position controller to the current position and velocity with decaying acceleration. // relax_velocity_controller_xy - initialise the position controller to the current position and velocity with decaying acceleration.
@ -513,7 +511,7 @@ void AC_PosControl::init_xy_controller()
_pid_vel_xy.reset_filter(); _pid_vel_xy.reset_filter();
// initialise the I term to _accel_target - _accel_desired // initialise the I term to _accel_target - _accel_desired
// _accel_desired is zero and can be removed from the equation // _accel_desired is zero and can be removed from the equation
_pid_vel_xy.set_integrator(_accel_target); _pid_vel_xy.set_integrator(_accel_target.xy() - _vel_target.xy() * _pid_vel_xy.ff());
// initialise ekf xy reset handler // initialise ekf xy reset handler
init_ekf_xy_reset(); init_ekf_xy_reset();