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Plane: reset rate controller integrators if not run for 2s

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this prevents a bug where integrator buildup can happen from a
previous flight mode
This commit is contained in:
Andrew Tridgell 2019-07-07 10:16:47 +10:00
parent 030eab0f86
commit ebe2278f5d
2 changed files with 14 additions and 1 deletions
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12
ArduPlane/Attitude.cpp
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@ -370,7 +370,17 @@ void Plane::stabilize()
nav_pitch_cd = constrain_float((quadplane.tailsitter.transition_angle+5)*100, 5500, 8500), nav_pitch_cd = constrain_float((quadplane.tailsitter.transition_angle+5)*100, 5500, 8500),
nav_roll_cd = 0; nav_roll_cd = 0;
} }
uint32_t now = AP_HAL::millis();
if (now - last_stabilize_ms > 2000) {
// if we haven't run the rate controllers for 2 seconds then
// reset the integrators
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
}
last_stabilize_ms = now;
if (control_mode == &mode_training) { if (control_mode == &mode_training) {
stabilize_training(speed_scaler); stabilize_training(speed_scaler);
} else if (control_mode == &mode_acro) { } else if (control_mode == &mode_acro) {

3
ArduPlane/Plane.h
View File

@ -349,6 +349,9 @@ private:
// This is used to enable the inverted flight feature // This is used to enable the inverted flight feature
bool inverted_flight; bool inverted_flight;
// last time we ran roll/pitch stabilization
uint32_t last_stabilize_ms;
// Failsafe // Failsafe
struct { struct {
// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold // Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold