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mc_att_control: Improve integrator wind-up protection

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Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter
This commit is contained in:
Paul Riseborough
2016-12-13 16:14:15 +01:00
committed by Lorenz Meier
parent efb7131186
commit eb67686b11
2 changed files with 104 additions and 11 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+36
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@@ -106,6 +106,18 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
/**
* Roll rate integrator limit
*
* Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
*
* @min 0.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_RR_INT_LIM, 0.30f);
/**
* Roll rate D gain
*
@@ -169,6 +181,18 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
/**
* Pitch rate integrator limit
*
* Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
*
* @min 0.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PR_INT_LIM, 0.30f);
/**
* Pitch rate D gain
*
@@ -231,6 +255,18 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
/**
* Yaw rate integrator limit
*
* Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
*
* @min 0.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YR_INT_LIM, 0.30f);
/**
* Yaw rate D gain
*