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manual merge fw_integrator_fix_ouputlimit into fw_staging_ouputlimit

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Thomas Gubler
2013-10-24 18:34:22 +02:00
parent bff3bf8d87 1e89f30120
commit 01d8ca1fba
4 changed files with 13 additions and 11 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+3 -2
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@@ -160,10 +160,11 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//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);
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
// warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
// warnx("roll: _last_output %.4f", (double)_last_output);
return math::constrain(_last_output, -1.0f, 1.0f);
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+4 -4
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@@ -132,12 +132,12 @@ float ECL_RollController::control_bodyrate(float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
// warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
//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);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
// warnx("roll: _last_output %.4f", (double)_last_output);
_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
return math::constrain(_last_output, -1.0f, 1.0f);
}
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+3 -2
View File
@@ -146,10 +146,11 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//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);
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);