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mc_att_control: reenable TPA for I term

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In commit
eb67686b11
the TPA scaled integral gain was reverted back to the
normal unscaled gain which rendered the I part of TPA
useless.
This commit is contained in:
Matthias Grob
2018-03-26 19:00:18 +02:00
parent 500a1c808d
commit 76bf9c6465
1 changed files with 2 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -2
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@@ -519,7 +519,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
rates(2) -= _sensor_bias.gyro_z_bias; rates(2) -= _sensor_bias.gyro_z_bias;
Vector3f rates_p_scaled = _rate_p.emult(pid_attenuations(_tpa_breakpoint_p.get(), _tpa_rate_p.get())); Vector3f rates_p_scaled = _rate_p.emult(pid_attenuations(_tpa_breakpoint_p.get(), _tpa_rate_p.get()));
//Vector3f rates_i_scaled = _rate_i.emult(pid_attenuations(_tpa_breakpoint_i.get(), _tpa_rate_i.get())); Vector3f rates_i_scaled = _rate_i.emult(pid_attenuations(_tpa_breakpoint_i.get(), _tpa_rate_i.get()));
Vector3f rates_d_scaled = _rate_d.emult(pid_attenuations(_tpa_breakpoint_d.get(), _tpa_rate_d.get())); Vector3f rates_d_scaled = _rate_d.emult(pid_attenuations(_tpa_breakpoint_d.get(), _tpa_rate_d.get()));
/* angular rates error */ /* angular rates error */
@@ -567,7 +567,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
} }
// Perform the integration using a first order method and do not propagate the result if out of range or invalid // Perform the integration using a first order method and do not propagate the result if out of range or invalid
float rate_i = _rates_int(i) + _rate_i(i) * rates_err(i) * dt; float rate_i = _rates_int(i) + rates_i_scaled(i) * rates_err(i) * dt;
if (PX4_ISFINITE(rate_i) && rate_i > -_rate_int_lim(i) && rate_i < _rate_int_lim(i)) { if (PX4_ISFINITE(rate_i) && rate_i > -_rate_int_lim(i) && rate_i < _rate_int_lim(i)) {
_rates_int(i) = rate_i; _rates_int(i) = rate_i;