Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: remove output limits

This commit is contained in:
Leonard Hall 2018-08-14 00:00:41 +09:30 committed by Randy Mackay
parent 823d09b212
commit acaefe9316
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
View File

@ -838,7 +838,7 @@ float AC_AttitudeControl::rate_target_to_motor_roll(float rate_actual_rads, floa
float output = get_rate_roll_pid().get_p() + integrator + get_rate_roll_pid().get_d() + get_rate_roll_pid().get_ff(rate_target_rads);
// Constrain output
return constrain_float(output, -1.0f, 1.0f);
return output;
}
// Run the pitch angular velocity PID controller and return the output
@ -861,7 +861,7 @@ float AC_AttitudeControl::rate_target_to_motor_pitch(float rate_actual_rads, flo
float output = get_rate_pitch_pid().get_p() + integrator + get_rate_pitch_pid().get_d() + get_rate_pitch_pid().get_ff(rate_target_rads);
// Constrain output
return constrain_float(output, -1.0f, 1.0f);
return output;
}
// Run the yaw angular velocity PID controller and return the output
@ -884,7 +884,7 @@ float AC_AttitudeControl::rate_target_to_motor_yaw(float rate_actual_rads, float
float output = get_rate_yaw_pid().get_p() + integrator + get_rate_yaw_pid().get_d() + get_rate_yaw_pid().get_ff(rate_target_rads);
// Constrain output
return constrain_float(output, -1.0f, 1.0f);
return output;
}
// Enable or disable body-frame feed forward