fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-11 04:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw attitude control: compute integrator correctly

Browse Source 
- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-02-12 11:40:14 +01:00
committed by Lorenz Meier
parent ac7fc30ea7
commit 55401ec1b0
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
attitude_fw/ecl_roll_controller.cpp
+1 -1
View File
@@ -124,7 +124,7 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
/* 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 +