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APM_Control: Pitch Control - Reduced the speed below which the integrator is locked 

This is to allow for slow speed flare manoeuvres in FBW modes
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Paul Riseborough 2013-06-10 21:34:32 +10:00 committed by Andrew Tridgell
parent 6ea568d72a
commit d8dab7b5c7
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AP_PitchController.cpp
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@ -171,7 +171,7 @@ int32_t AP_PitchController::get_servo_out(int32_t angle, float scaler, bool stab
// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
if (!stabilize && ki_rate > 0) {
//only integrate if gain and time step are positive and airspeed above min value.
if (dt > 0 && aspeed > float(aspd_min)) {
if (dt > 0 && aspeed > 0.5f*float(aspd_min)) {
float integrator_delta = rate_error * ki_rate * delta_time;
if (_last_out < -45) {
// prevent the integrator from increasing if surface defln demand is above the upper limit