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fw multiply integrator gain in loop

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Daniel Agar
2016-03-25 17:28:39 -04:00
parent 0ea55e25f9
commit 82cf1827d4
4 changed files with 8 additions and 8 deletions
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attitude_fw/ecl_pitch_controller.cpp
+2 -2
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@@ -181,12 +181,12 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
id = math::min(id, 0.0f); id = math::min(id, 0.0f);
} }
_integrator += id; _integrator += id * _k_i;
} }
/* integrator limit */ /* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here //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 */ /* Apply PI rate controller and store non-limited output */
_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler + _last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
attitude_fw/ecl_roll_controller.cpp
+2 -2
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@@ -128,12 +128,12 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
id = math::min(id, 0.0f); id = math::min(id, 0.0f);
} }
_integrator += id; _integrator += id * _k_i;
} }
/* integrator limit */ /* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here //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);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* Apply PI rate controller and store non-limited output */ /* Apply PI rate controller and store non-limited output */
attitude_fw/ecl_wheel_controller.cpp
+2 -2
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@@ -100,12 +100,12 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
id = math::min(id, 0.0f); id = math::min(id, 0.0f);
} }
_integrator += id; _integrator += id * _k_i;
} }
/* integrator limit */ /* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here //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 */ /* Apply PI rate controller and store non-limited output */
_last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler + _last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler +
attitude_fw/ecl_yaw_controller.cpp
+2 -2
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@@ -217,12 +217,12 @@ float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl
id = math::min(id, 0.0f); id = math::min(id, 0.0f);
} }
_integrator += id; _integrator += id * _k_i;
} }
/* integrator limit */ /* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here //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 */ /* Apply PI rate controller and store non-limited output */
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler * _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler *