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Copter: remove throttle rate's I and D calcs

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Randy Mackay 2013-07-23 11:02:04 +09:00
parent 740970efa6
commit c5851d2ddf
1 changed files with 5 additions and 13 deletions
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18
ArduCopter/Attitude.pde
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@ -1012,7 +1012,7 @@ get_throttle_rate(float z_target_speed)
static float z_rate_error = 0; // The velocity error in cm. static float z_rate_error = 0; // The velocity error in cm.
static float z_target_speed_filt = 0; // The filtered requested speed static float z_target_speed_filt = 0; // The filtered requested speed
float z_target_speed_delta; // The change in requested speed float z_target_speed_delta; // The change in requested speed
int32_t p,i,d; // used to capture pid values for logging int32_t p; // used to capture pid values for logging
int32_t output; // the target acceleration if the accel based throttle is enabled, otherwise the output to be sent to the motors int32_t output; // the target acceleration if the accel based throttle is enabled, otherwise the output to be sent to the motors
uint32_t now = millis(); uint32_t now = millis();
@ -1032,19 +1032,11 @@ get_throttle_rate(float z_target_speed)
} }
last_call_ms = now; last_call_ms = now;
// separately calculate p, i, d values for logging // calculate p
p = g.pid_throttle_rate.get_p(z_rate_error); p = g.pid_throttle_rate.kP() * z_rate_error;
// freeze I term if we've breached throttle limits
if(motors.limit.throttle) {
i = g.pid_throttle_rate.get_integrator();
}else{
i = g.pid_throttle_rate.get_i(z_rate_error, .02);
}
d = g.pid_throttle_rate.get_d(z_rate_error, .02);
// consolidate and constrain target acceleration // consolidate and constrain target acceleration
output += p+i+d; output += p;
output = constrain_int32(output, -32000, 32000); output = constrain_int32(output, -32000, 32000);
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
@ -1053,7 +1045,7 @@ get_throttle_rate(float z_target_speed)
pid_log_counter++; pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
pid_log_counter = 0; pid_log_counter = 0;
Log_Write_PID(CH6_THROTTLE_RATE_KP, z_rate_error, p, i, d, output, tuning_value); Log_Write_PID(CH6_THROTTLE_RATE_KP, z_rate_error, p, 0, 0, output, tuning_value);
} }
} }
#endif #endif