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reintroduce feedforward

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Thomas Gubler
2013-11-13 11:05:22 +01:00
parent 8e92d47de1
commit 38172497c1
8 changed files with 59 additions and 5 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+2 -1
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@@ -53,6 +53,7 @@ ECL_PitchController::ECL_PitchController() :
_k_p(0.0f),
_k_i(0.0f),
_k_d(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate_pos(0.0f),
_max_rate_neg(0.0f),
@@ -173,7 +174,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
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_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = (_bodyrate_setpoint * _k_ff +_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);