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APM_Control: scale controllers for altitude

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this allows the attitude controllers to better handle a wider range of
altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2013-07-20 14:37:05 +10:00
parent 097718e833
commit c5028c04da
2 changed files with 6 additions and 5 deletions
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2
libraries/APM_Control/AP_PitchController.cpp
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@ -143,7 +143,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
// Calculate equivalent gains so that values for K_P and K_I can be taken across from the old PID law
// No conversion is required for K_D
float kp_ff = max((_K_P - _K_I * _tau) * _tau - _K_D , 0);
float kp_ff = max((_K_P - _K_I * _tau) * _tau - _K_D , 0) / _ahrs->get_EAS2TAS();
// Calculate the demanded control surface deflection
// Note the scaler is applied again. We want a 1/speed scaler applied to the feed-forward

9
libraries/APM_Control/AP_RollController.cpp
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@ -82,15 +82,16 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
}
_last_t = tnow;
// Calculate equivalent gains so that values for K_P and K_I can be taken across from the old PID law
// No conversion is required for K_D
float kp_ff = max((_K_P - _K_I * _tau) * _tau - _K_D , 0);
float ki_rate = _K_I * _tau;
if (_ahrs == NULL) {
// can't control without a reference
return 0;
}
// Calculate equivalent gains so that values for K_P and K_I can be taken across from the old PID law
// No conversion is required for K_D
float ki_rate = _K_I * _tau;
float kp_ff = max((_K_P - _K_I * _tau) * _tau - _K_D , 0)/_ahrs->get_EAS2TAS();
float delta_time = (float)dt * 0.001f;
// Limit the demanded roll rate