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SRV_Channel: cope with large time jumps in slew rate limiter

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Andrew Tridgell 2017-05-16 13:56:03 +10:00 committed by Randy Mackay
parent 74f5ddb823
commit bc8c13d053
1 changed files with 4 additions and 2 deletions
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6
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -583,8 +583,10 @@ void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, f
continue;
}
uint16_t max_change = (ch.get_output_max() - ch.get_output_min()) * slew_rate * dt * 0.01f;
if (max_change == 0) {
// always allow some change
if (max_change == 0 || dt > 1) {
// always allow some change. If dt > 1 then assume we
// are just starting out, and only allow a small
// change for this loop
max_change = 1;
}
ch.output_pwm = constrain_int16(ch.output_pwm, last_pwm-max_change, last_pwm+max_change);