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Added integral reset for rate controller

This commit is contained in:
Julian Oes 2013-06-19 12:01:22 +02:00
parent 53eb76f4d5
commit ece93ab628
1 changed files with 6 additions and 0 deletions
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6
src/modules/multirotor_att_control/multirotor_rate_control.c
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@ -199,6 +199,12 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f);
}
/* reset integral if on ground */
if (rate_sp->thrust < 0.01f) {
pid_reset_integral(&pitch_rate_controller);
pid_reset_integral(&roll_rate_controller);
}
/* control pitch (forward) output */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);