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mc_att_control: more strict conditions for integrating

This commit is contained in:
Anton Babushkin 2014-02-17 12:53:06 +04:00
parent 9665d38940
commit 7d80f05b4d
1 changed files with 2 additions and 2 deletions
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4
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -86,7 +86,7 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THROTTLE 0.3f #define MIN_TAKEOFF_THROTTLE 0.3f
#define YAW_DEADZONE 0.05f #define YAW_DEADZONE 0.05f
#define RATES_I_LIMIT 0.5f #define RATES_I_LIMIT 0.3f
class MulticopterAttitudeControl class MulticopterAttitudeControl
{ {
@ -658,7 +658,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
_rates_prev = rates; _rates_prev = rates;
/* update integral only if not saturated on low limit */ /* update integral only if not saturated on low limit */
if (_thrust_sp > 0.1f) { if (_thrust_sp > 0.2f) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) { if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;