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APM_Control: rename 'stabilize' to 'disable_integrator'

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this better reflects what it does
This commit is contained in:
Andrew Tridgell 2013-08-02 21:54:48 +10:00
parent 0c64c800b3
commit a7cbebbeba
6 changed files with 16 additions and 16 deletions
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8
libraries/APM_Control/AP_PitchController.cpp
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@ -96,7 +96,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
4) minimum FBW airspeed (metres/sec)
5) maximum FBW airspeed (metres/sec)
*/
int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool stabilize, float aspeed)
int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed)
{
uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;
@ -117,7 +117,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
// Multiply pitch rate error by _ki_rate and integrate
// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
if (!stabilize && _K_I > 0) {
if (!disable_integrator && _K_I > 0) {
float ki_rate = _K_I * _tau;
//only integrate if gain and time step are positive and airspeed above min value.
if (dt > 0 && aspeed > 0.5f*float(aparm.airspeed_min)) {
@ -230,7 +230,7 @@ float AP_PitchController::get_coordination_rate_offset(void) const
// 4) minimum FBW airspeed (metres/sec)
// 5) maximum FBW airspeed (metres/sec)
//
int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool stabilize)
int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
{
// Calculate offset to pitch rate demand required to maintain pitch angle whilst banking
// Calculate ideal turn rate from bank angle and airspeed assuming a level coordinated turn
@ -266,7 +266,7 @@ int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool
// Apply the turn correction offset
desired_rate = desired_rate + rate_offset;
return _get_rate_out(desired_rate, scaler, stabilize, aspeed);
return _get_rate_out(desired_rate, scaler, disable_integrator, aspeed);
}
void AP_PitchController::reset_I()

4
libraries/APM_Control/AP_PitchController.h
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@ -19,7 +19,7 @@ public:
void set_ahrs(AP_AHRS *ahrs) { _ahrs = ahrs; }
int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool stabilize);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
float get_coordination_rate_offset(void) const;
void reset_I();
@ -41,7 +41,7 @@ private:
float _integrator;
int32_t _get_rate_out(float desired_rate, float scaler, bool stabilize, float aspeed);
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
AP_AHRS *_ahrs;

8
libraries/APM_Control/AP_RollController.cpp
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@ -73,7 +73,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
internal rate controller, called by attitude and rate controller
public functions
*/
int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool stabilize)
int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator)
{
uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;
@ -115,7 +115,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
// Multiply roll rate error by _ki_rate and integrate
// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
if (!stabilize && ki_rate > 0) {
if (!disable_integrator && ki_rate > 0) {
//only integrate if gain and time step are positive and airspeed above min value.
if (dt > 0 && aspeed > float(aparm.airspeed_min)) {
float integrator_delta = rate_error * ki_rate * delta_time;
@ -170,7 +170,7 @@ int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
3) boolean which is true when stabilise mode is active
4) minimum FBW airspeed (metres/sec)
*/
int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool stabilize)
int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
{
if (_tau < 0.1) {
_tau = 0.1;
@ -179,7 +179,7 @@ int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool s
// Calculate the desired roll rate (deg/sec) from the angle error
float desired_rate = angle_err * 0.01f / _tau;
return _get_rate_out(desired_rate, scaler, stabilize);
return _get_rate_out(desired_rate, scaler, disable_integrator);
}
void AP_RollController::reset_I()

6
libraries/APM_Control/AP_RollController.h
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@ -18,8 +18,8 @@ public:
void set_ahrs(AP_AHRS *ahrs) { _ahrs = ahrs; }
int32_t get_rate_out(float desired_rate, float scaler=1.0);
int32_t get_servo_out(int32_t angle_err, float scaler=1.0, bool stabilize=false);
int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
void reset_I();
@ -38,7 +38,7 @@ private:
float _integrator;
int32_t _get_rate_out(float desired_rate, float scaler, bool stabilize);
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator);
AP_AHRS *_ahrs;

4
libraries/APM_Control/AP_YawController.cpp
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@ -62,7 +62,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] PROGMEM = {
AP_GROUPEND
};
int32_t AP_YawController::get_servo_out(float scaler, bool stabilize)
int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
{
uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;
@ -120,7 +120,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool stabilize)
// Apply integrator, but clamp input to prevent control saturation and freeze integrator below min FBW speed
// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
// Don't integrate if _K_D is zero as integrator will keep winding up
if (!stabilize && _K_D > 0) {
if (!disable_integrator && _K_D > 0) {
//only integrate if airspeed above min value
if (aspeed > float(aspd_min))
{

2
libraries/APM_Control/AP_YawController.h
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@ -21,7 +21,7 @@ public:
_ins = _ahrs->get_ins();
}
int32_t get_servo_out(float scaler = 1.0, bool stabilize = false);
int32_t get_servo_out(float scaler, bool disable_integrator);
void reset_I();