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reduce wheel control speed scaling

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This commit is contained in:
Andreas Antener
2015-11-17 22:28:08 +01:00
committed by Roman
parent d015fbd678
commit 9c70eb0b63
1 changed files with 2 additions and 1 deletions
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src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
+2 -1
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@@ -85,7 +85,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
speed = ctl_data.ground_speed; speed = ctl_data.ground_speed;
} }
float scaler = 1.0f / speed; /* only scale a certain amount with speed else the corrections get to small */
float scaler = 0.7f + 0.3f / speed;
/* Calculate body angular rate error */ /* Calculate body angular rate error */
_rate_error = _rate_setpoint - ctl_data.yaw_rate; //body angular rate error _rate_error = _rate_setpoint - ctl_data.yaw_rate; //body angular rate error