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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_roll_controller.cpp
+7 -6
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@@ -45,6 +45,7 @@
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
ECL_RollController::ECL_RollController() :
_last_run(0),
@@ -85,7 +86,7 @@ float ECL_RollController::control_bodyrate(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 > 500000) ? 0.0f : dt_micros / 1000000;
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc;
@@ -108,11 +109,9 @@ float ECL_RollController::control_bodyrate(float pitch,
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
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
@@ -130,9 +129,11 @@ float ECL_RollController::control_bodyrate(float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}