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Added limit to errorYaw in DCM to prevent I term to grow too much

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@656 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-10-12 08:44:20 +00:00
parent 6baf85d880
commit b7ecadf982
2 changed files with 12 additions and 9 deletions
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16
ArducopterNG/ArduUser.h
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@ -33,7 +33,6 @@ TODO:
* ************************************************************** */ * ************************************************************** */
/*************************************************************/ /*************************************************************/
// Safety & Security // Safety & Security
@ -41,7 +40,6 @@ TODO:
#define ARM_DELAY 200 // milliseconds of how long you need to keep rudder to max right for arming motors #define ARM_DELAY 200 // milliseconds of how long you need to keep rudder to max right for arming motors
#define DISARM_DELAY 100 // milliseconds of how long you need to keep rudder to max left for disarming motors #define DISARM_DELAY 100 // milliseconds of how long you need to keep rudder to max left for disarming motors
/*************************************************************/ /*************************************************************/
// AM Mode & Flight information // AM Mode & Flight information
@ -181,16 +179,16 @@ void defaultUserConfig() {
KP_ALTITUDE = 0.8; KP_ALTITUDE = 0.8;
KI_ALTITUDE = 0.2; KI_ALTITUDE = 0.2;
KD_ALTITUDE = 0.2; KD_ALTITUDE = 0.2;
acc_offset_x = 2073; acc_offset_x = 2048;
acc_offset_y = 2056; acc_offset_y = 2048;
acc_offset_z = 2010; acc_offset_z = 2048;
gyro_offset_roll = 1659; gyro_offset_roll = 1659;
gyro_offset_pitch = 1618; gyro_offset_pitch = 1650;
gyro_offset_yaw = 1673; gyro_offset_yaw = 1650;
Kp_ROLLPITCH = 0.0014; Kp_ROLLPITCH = 0.0014;
Ki_ROLLPITCH = 0.00000015; Ki_ROLLPITCH = 0.00000015;
Kp_YAW = 1.2; Kp_YAW = 1.0;
Ki_YAW = 0.00005; Ki_YAW = 0.00002;
GEOG_CORRECTION_FACTOR = 0.87; GEOG_CORRECTION_FACTOR = 0.87;
MAGNETOMETER = 0; MAGNETOMETER = 0;
Kp_RateRoll = 1.95; Kp_RateRoll = 1.95;

5
ArducopterNG/DCM.pde
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@ -92,6 +92,11 @@ void Drift_correction(void)
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW); Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional. Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional.
// Limit max errorYaw to limit max Omega_I
errorYaw[0] = constrain(errorYaw[0],-50,50);
errorYaw[1] = constrain(errorYaw[1],-50,50);
errorYaw[2] = constrain(errorYaw[2],-50,50);
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW); Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I