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limiting alt hold rate error to 1m/s

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Jason Short 2012-01-29 17:08:34 -08:00
parent 370d633f51
commit c855c81d2a
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/Attitude.pde
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@ -130,7 +130,6 @@ get_rate_yaw(int32_t target_rate)
return constrain(target_rate, -yaw_limit, yaw_limit); return constrain(target_rate, -yaw_limit, yaw_limit);
} }
#define ALT_ERROR_MAX 400
static int16_t static int16_t
get_nav_throttle(int32_t z_error) get_nav_throttle(int32_t z_error)
{ {
@ -138,11 +137,12 @@ get_nav_throttle(int32_t z_error)
int16_t rate_error = 0; int16_t rate_error = 0;
int16_t output = 0; int16_t output = 0;
// limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
// convert to desired Rate: // convert to desired Rate:
rate_error = g.pi_alt_hold.get_p(z_error); //_p = .85 rate_error = g.pi_alt_hold.get_p(z_error);
rate_error = constrain(rate_error, -100, 100);
// limit error to prevent I term wind up
z_error = constrain(z_error, -400, 400);
// compensates throttle setpoint error for hovering // compensates throttle setpoint error for hovering
int16_t iterm = g.pi_alt_hold.get_i(z_error, .1); int16_t iterm = g.pi_alt_hold.get_i(z_error, .1);