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AP_L1_Control: correct zeroing of cross-track integrator

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This routine is generally only called at 10Hz, so the integrator was
regularly reset.
This commit is contained in:
Peter Barker 2020-11-05 16:39:02 +11:00 committed by Andrew Tridgell
parent d6869b9234
commit fd9068de8a
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -205,9 +205,13 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
float dt = (now - _last_update_waypoint_us) * 1.0e-6f; float dt = (now - _last_update_waypoint_us) * 1.0e-6f;
if (dt > 1) {
// controller hasn't been called for an extended period of
// time. Reinitialise it.
_L1_xtrack_i = 0.0f;
}
if (dt > 0.1) { if (dt > 0.1) {
dt = 0.1; dt = 0.1;
_L1_xtrack_i = 0.0f;
} }
_last_update_waypoint_us = now; _last_update_waypoint_us = now;