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AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds

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This commit is contained in:
Randy Mackay 2017-10-26 16:02:54 +09:00
parent ee3daaa7c9
commit ce73d724c8
1 changed files with 2 additions and 2 deletions
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4
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -222,9 +222,9 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
// get p
float p = _steer_rate_pid.get_p();
// get i unless moving at low speed or steering output has hit a limit
// get i unless non-skid-steering rover at low speed or steering output has hit a limit
float i = _steer_rate_pid.get_integrator();
if (!low_speed && ((is_negative(rate_error) && !motor_limit_left) || (is_positive(rate_error) && !motor_limit_right))) {
if ((!low_speed || skid_steering) && ((is_negative(rate_error) && !motor_limit_left) || (is_positive(rate_error) && !motor_limit_right))) {
i = _steer_rate_pid.get_i();
}