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Plane: decay fw rate integrators when at low airspeed 

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 05bd0cb9f4
commit aa18c75689
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 if (hal.util->get_soft_armed()) {