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Merge pull request #79 from dagar/integrator_fix 

fw multiply integrator gain in loop
This commit is contained in:
Roman Bapst 2016-04-05 22:33:29 +02:00
parent 430d4b1cf8 82cf1827d4
commit f35e78643c
4 changed files with 8 additions and 8 deletions
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4
attitude_fw/ecl_pitch_controller.cpp
View File

@ -181,12 +181,12 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
id = math::min(id, 0.0f);
}
_integrator += id;
_integrator += id * _k_i;
}
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +

4
attitude_fw/ecl_roll_controller.cpp
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@ -128,12 +128,12 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
id = math::min(id, 0.0f);
}
_integrator += id;
_integrator += id * _k_i;
}
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* Apply PI rate controller and store non-limited output */

4
attitude_fw/ecl_wheel_controller.cpp
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@ -100,12 +100,12 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
id = math::min(id, 0.0f);
}
_integrator += id;
_integrator += id * _k_i;
}
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler +

4
attitude_fw/ecl_yaw_controller.cpp
View File

@ -217,12 +217,12 @@ float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl
id = math::min(id, 0.0f);
}
_integrator += id;
_integrator += id * _k_i;
}
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler *