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APM_Control: fixed yaw PID reset

This commit is contained in:
MatthewHampsey 2022-09-15 13:51:06 +10:00 committed by Andrew Tridgell
parent 90900adf53
commit bcf6601e4e
2 changed files with 13 additions and 2 deletions
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12
libraries/APM_Control/AP_YawController.cpp
View File

@ -164,6 +164,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
uint32_t dt = tnow - _last_t; uint32_t dt = tnow - _last_t;
if (_last_t == 0 || dt > 1000) { if (_last_t == 0 || dt > 1000) {
dt = 0; dt = 0;
_pid_info.I = 0;
} }
_last_t = tnow; _last_t = tnow;
@ -343,8 +344,15 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
void AP_YawController::reset_I() void AP_YawController::reset_I()
{ {
_integrator = 0.0; _pid_info.I = 0;
_pid_info.I = 0.0; rate_pid.reset_I();
_integrator = 0;
}
void AP_YawController::reset_rate_PID()
{
rate_pid.reset_I();
rate_pid.reset_filter();
} }
/* /*

3
libraries/APM_Control/AP_YawController.h
View File

@ -26,6 +26,8 @@ public:
void reset_I(); void reset_I();
void reset_rate_PID();
/* /*
reduce the integrator, used when we have a low scale factor in a quadplane hover reduce the integrator, used when we have a low scale factor in a quadplane hover
*/ */
@ -43,6 +45,7 @@ public:
// start/stop auto tuner // start/stop auto tuner
void autotune_start(void); void autotune_start(void);
void autotune_restore(void); void autotune_restore(void);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];