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Attitude control: Enforce rate limits by default to prevent jittery control outputs / steps

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Lorenz Meier
2015-08-02 14:51:09 +02:00
parent b066a79ca6
commit fbc1b78b38
1 changed files with 3 additions and 3 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+3 -3
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@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f);
* @max 90.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
/**
* Maximum negative / down pitch rate.
@@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
* @max 90.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
/**
* Pitch rate integrator limit
@@ -185,7 +185,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
* @max 90.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f);
PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
/**
* Yaw rate proportional gain