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Plane: fixed yaw rate tuning in AUTOTUNE mode 

don't reset yaw rate controller continuously while we are trying to
use it
This commit is contained in:
Andrew Tridgell 2022-10-18 18:52:30 +11:00
parent bcf6601e4e
commit ea188c95c7
1 changed files with 9 additions and 0 deletions
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9
ArduPlane/Attitude.cpp
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@ -607,6 +607,7 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
int16_t rudder_in = rudder_input(); int16_t rudder_in = rudder_input();
int16_t commanded_rudder; int16_t commanded_rudder;
bool using_rate_controller = false;
// Received an external msg that guides yaw in the last 3 seconds? // Received an external msg that guides yaw in the last 3 seconds?
if (control_mode->is_guided_mode() && if (control_mode->is_guided_mode() &&
@ -618,6 +619,7 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
const float rudd_expo = rudder_in_expo(true); const float rudd_expo = rudder_in_expo(true);
const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate; const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
commanded_rudder = yawController.get_rate_out(yaw_rate, speed_scaler, false); commanded_rudder = yawController.get_rate_out(yaw_rate, speed_scaler, false);
using_rate_controller = true;
} else { } else {
if (control_mode == &mode_stabilize && rudder_in != 0) { if (control_mode == &mode_stabilize && rudder_in != 0) {
disable_integrator = true; disable_integrator = true;
@ -631,6 +633,13 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
} }
steering_control.rudder = constrain_int16(commanded_rudder, -4500, 4500); steering_control.rudder = constrain_int16(commanded_rudder, -4500, 4500);
if (!using_rate_controller) {
/*
When not running the yaw rate controller, we need to reset the rate
*/
yawController.reset_rate_PID();
}
} }
/* /*