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APM_Control: adjust min value for tconst

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This commit is contained in:
Andrew Tridgell 2021-04-05 10:23:53 +10:00
parent 93abd44446
commit fa88967b6e
3 changed files with 9 additions and 10 deletions
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11
libraries/APM_Control/AP_AutoTune.cpp
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@ -96,11 +96,11 @@ static const struct {
{ 0.70, 50 }, // level 4
{ 0.60, 60 }, // level 5
{ 0.50, 75 }, // level 6
{ 0.25, 90 }, // level 7
{ 0.12, 120 }, // level 8
{ 0.06, 160 }, // level 9
{ 0.03, 210 }, // level 10
{ 0.01, 300 }, // (yes, it goes to 11)
{ 0.30, 90 }, // level 7
{ 0.2, 120 }, // level 8
{ 0.15, 160 }, // level 9
{ 0.1, 210 }, // level 10
{ 0.1, 300 }, // (yes, it goes to 11)
};
/*
@ -148,7 +148,6 @@ void AP_AutoTune::stop(void)
running = false;
save_gains(restore);
current = restore;
rpid.set_slew_limit_scale(45);
}
}

4
libraries/APM_Control/AP_PitchController.cpp
View File

@ -287,8 +287,8 @@ int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool
float rate_offset;
bool inverted;
if (gains.tau < 0.01f) {
gains.tau.set(0.01f);
if (gains.tau < 0.05f) {
gains.tau.set(0.05f);
}
rate_offset = _get_coordination_rate_offset(aspeed, inverted);

4
libraries/APM_Control/AP_RollController.cpp
View File

@ -221,8 +221,8 @@ int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
*/
int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
{
if (gains.tau < 0.01f) {
gains.tau.set(0.01f);
if (gains.tau < 0.05f) {
gains.tau.set(0.05f);
}
// Calculate the desired roll rate (deg/sec) from the angle error