Beat Küng ea31f34d09 mc rate controller: add I term reduction factor ...

Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.

This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).

The 400 degrees limit and the x^2 are empirical.

The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.

2019-06-22 13:23:19 +02:00

..

AttitudeControl

Testing: correct license headers

2019-05-09 09:42:46 +02:00

CMakeLists.txt

mc_att_control: move attitude control calculations into separate class

2019-03-27 12:06:39 +01:00

mc_att_control_main.cpp

mc rate controller: add I term reduction factor

2019-06-22 13:23:19 +02:00

mc_att_control_params.c

MC gyro cutoffs - Reduce IMU_GYRO_CUTOFF to 30Hz and disable MC_DTERM_CUTOFF.

2019-05-07 12:15:51 +02:00

mc_att_control.hpp

uORB::Publication simplify and cleanup

2019-06-12 08:48:19 -04:00