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fw att control: bugfixes for integrator

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Thomas Gubler
2013-10-24 17:47:22 +02:00
parent b9ef3636f5
commit 8f74aab468
6 changed files with 48 additions and 29 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+4 -7
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@@ -116,8 +116,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = dt_micros / 1000000;
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
/* lock integral for long intervals */
if (dt_micros > 500000)
@@ -142,11 +141,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
_rate_error = _bodyrate_setpoint - pitch_bodyrate;
float ilimit_scaled = 0.0f;
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * k_i_rate * dt * scaler;
float id = _rate_error * dt;
/*
* anti-windup: do not allow integrator to increase into the
@@ -164,9 +161,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}