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fw att control: change control surface deflection scaling

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Thomas Gubler
2014-08-15 18:32:51 +02:00
parent e9b0ee7501
commit da0e3169f2
2 changed files with 8 additions and 4 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+4 -2
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@@ -135,7 +135,7 @@ float ECL_RollController::control_bodyrate(float pitch,
if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt;
float id = _rate_error * dt * scaler;
/*
* anti-windup: do not allow integrator to increase if actuator is at limit
@@ -157,7 +157,9 @@ float ECL_RollController::control_bodyrate(float pitch,
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = _bodyrate_setpoint * _k_ff * scaler +
_rate_error * _k_p * scaler * scaler
+ integrator_constrained; //scaler is proportional to 1/airspeed
return math::constrain(_last_output, -1.0f, 1.0f);
}