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l1 controller: simpler way of doing slew rate limiting

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-07-24 10:16:44 +02:00 committed by Lorenz Meier
parent fe4e6779f3
commit 4a8a3a4079
1 changed files with 1 additions and 5 deletions
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6
l1/ecl_l1_pos_controller.cpp
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@ -58,11 +58,7 @@ void ECL_L1_Pos_Controller::update_roll_setpoint()
}
// slew rate limiting active
if ((roll_new - _roll_setpoint) / _dt > _roll_slew_rate) {
roll_new = _roll_setpoint + _roll_slew_rate * _dt;
} else if ((roll_new - _roll_setpoint) / _dt < -_roll_slew_rate) {
roll_new = _roll_setpoint - _roll_slew_rate * _dt;
}
roll_new = math::constrain(roll_new, _roll_setpoint - _roll_slew_rate * _dt, _roll_setpoint + _roll_slew_rate * _dt);
_roll_setpoint = roll_new;