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mtecs: fix usage of outputLimiter.limit

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This commit is contained in:
Thomas Gubler
2014-05-24 14:07:51 +02:00
parent c00eaaf295
commit 2a354c2d10
1 changed files with 9 additions and 1 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+9 -1
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@@ -63,6 +63,14 @@ public:
_max(this, "MAX")
{};
virtual ~BlockOutputLimiter() {};
/*
* Imposes the limits given by _min and _max on value
*
* @param value is changed to be on the interval _min to _max
* @param difference if the value is changed this corresponds to the change of value * (-1)
* otherwise unchanged
* @return: true if the limit is applied, false otherwise
*/
bool limit(float& value, float& difference) {
float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin();
float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax();
@@ -121,7 +129,7 @@ protected:
float difference = 0.0f;
float integralYPrevious = _integral.getY();
float output = calcUnlimitedOutput(inputValue, inputError);
if(!outputLimiter.limit(output, difference) &&
if(outputLimiter.limit(output, difference) &&
(((difference < 0) && (getKI() * getIntegral().getY() < 0)) ||
((difference > 0) && (getKI() * getIntegral().getY() > 0)))) {
getIntegral().setY(integralYPrevious);