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APM_Control: tweaks from review feedback

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Andrew Tridgell 2021-11-30 14:16:02 +11:00 committed by Peter Barker
parent d52f5a9034
commit c83da810da
2 changed files with 3 additions and 2 deletions
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3
libraries/APM_Control/AP_YawController.cpp
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@ -269,7 +269,7 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
const float dt = AP::scheduler().get_loop_period_s(); const float dt = AP::scheduler().get_loop_period_s();
const float eas2tas = _ahrs.get_EAS2TAS(); const float eas2tas = _ahrs.get_EAS2TAS();
bool limit_I = fabsf(_last_out) >= 45; bool limit_I = fabsf(_last_out) >= 45 || disable_integrator;
float rate_z = _ahrs.get_gyro().z; float rate_z = _ahrs.get_gyro().z;
float aspeed; float aspeed;
float old_I = rate_pid.get_i(); float old_I = rate_pid.get_i();
@ -314,6 +314,7 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
pinfo.P *= deg_scale; pinfo.P *= deg_scale;
pinfo.I *= deg_scale; pinfo.I *= deg_scale;
pinfo.D *= deg_scale; pinfo.D *= deg_scale;
pinfo.limit = limit_I;
// fix the logged target and actual values to not have the scalers applied // fix the logged target and actual values to not have the scalers applied
pinfo.target = desired_rate; pinfo.target = desired_rate;

2
libraries/APM_Control/AP_YawController.h
View File

@ -55,7 +55,7 @@ private:
AP_Float _K_FF; AP_Float _K_FF;
AP_Int16 _imax; AP_Int16 _imax;
AP_Int8 _rate_enable; AP_Int8 _rate_enable;
AC_PID rate_pid{0.08, 0.3, 0, 0.3, 0.666, 3, 0, 12, 0.02, 150, 1}; AC_PID rate_pid{0.04, 0.15, 0, 0.15, 0.666, 3, 0, 12, 0.02, 150, 1};
uint32_t _last_t; uint32_t _last_t;
float _last_out; float _last_out;