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AP_Scripting: fixed non-oscillating yaw limit

This commit is contained in:
Andrew Tridgell 2022-05-04 08:29:48 +10:00
parent c2af9a9154
commit a7b3a5713d
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_Scripting/applets/VTOL-quicktune.lua
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@ -295,10 +295,7 @@ function gain_limit(pname)
return 0.0
end
function reached_limit(pname, gain, srate)
if srate > QUIK_OSC_SMAX:get() then
return true
end
function reached_limit(pname, gain)
local limit = gain_limit(pname)
if limit > 0.0 and gain >= limit then
return true
@ -368,8 +365,13 @@ function update()
local srate = get_slew_rate(axis)
local pname = get_pname(axis, stage)
local P = params[pname]
if reached_limit(pname, P:get(), srate) then
local oscillating = srate > QUIK_OSC_SMAX:get()
local limited = reached_limit(pname, P:get())
if limited or oscillating then
local reduction = (100.0-QUIK_GAIN_MARGIN:get())*0.01
if not oscillating then
reduction = 1.0
end
local new_gain = P:get() * reduction
local limit = gain_limit(pname)
if limit > 0.0 and new_gain > limit then