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AC_AttitudeControl: use non-flybar leaky I handling

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The standard leaky-I handling works fine on a flybar, so better not to
have a special case that isn't needed
This commit is contained in:
Andrew Tridgell 2015-08-08 13:03:01 +10:00
parent 1c26ed0fca
commit e3f7b002c2
1 changed files with 10 additions and 22 deletions
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32
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -137,17 +137,11 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
// update i term as long as we haven't breached the limits or the I term will certainly reduce
if (!_flags_heli.limit_roll || ((roll_i>0&&rate_roll_error<0)||(roll_i<0&&rate_roll_error>0))){
if (((AP_MotorsHeli&)_motors).has_flybar()) { // Mechanical Flybars get regular integral for rate auto trim
if (rate_roll_target_cds > -50 && rate_roll_target_cds < 50){ // Frozen at high rates
roll_i = _pid_rate_roll.get_i();
}
}else{
if (_flags_heli.leaky_i){
roll_i = ((AC_HELI_PID&)_pid_rate_roll).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}else{
roll_i = _pid_rate_roll.get_i();
}
}
if (_flags_heli.leaky_i){
roll_i = ((AC_HELI_PID&)_pid_rate_roll).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}else{
roll_i = _pid_rate_roll.get_i();
}
}
// get pitch i term
@ -155,17 +149,11 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
// update i term as long as we haven't breached the limits or the I term will certainly reduce
if (!_flags_heli.limit_pitch || ((pitch_i>0&&rate_pitch_error<0)||(pitch_i<0&&rate_pitch_error>0))){
if (((AP_MotorsHeli&)_motors).has_flybar()) { // Mechanical Flybars get regular integral for rate auto trim
if (rate_pitch_target_cds > -50 && rate_pitch_target_cds < 50){ // Frozen at high rates
pitch_i = _pid_rate_pitch.get_i();
}
}else{
if (_flags_heli.leaky_i) {
pitch_i = ((AC_HELI_PID&)_pid_rate_pitch).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}else{
pitch_i = _pid_rate_pitch.get_i();
}
}
if (_flags_heli.leaky_i) {
pitch_i = ((AC_HELI_PID&)_pid_rate_pitch).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}else{
pitch_i = _pid_rate_pitch.get_i();
}
}
roll_ff = roll_feedforward_filter.apply(((AC_HELI_PID&)_pid_rate_roll).get_vff(rate_roll_target_cds), _dt);