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Code Issues Releases Activity

Flight/Stabilization: Dont cap error at maximum stabilization value - that is to scale control throws. Create another variable if we want this.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1676 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-09-17 18:15:02 +00:00 committed by peabody124
parent 0ea95fbad1
commit 11f2b1a8dc
1 changed files with 2 additions and 2 deletions
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flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
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@ -111,7 +111,7 @@ static void stabilizationTask(void* parameters)
AttitudeActualGet(&attitudeActual);
// Pitch stabilization control loop
pitchError = bound(attitudeDesired.Pitch, -stabSettings.PitchMax, stabSettings.PitchMax) - attitudeActual.Pitch;
pitchError = attitudeDesired.Pitch - attitudeActual.Pitch;
pitchDerivative = (pitchError - pitchErrorLast) / stabSettings.UpdatePeriod;
pitchIntegral = bound(pitchIntegral+pitchError*stabSettings.UpdatePeriod, -stabSettings.PitchIntegralLimit, stabSettings.PitchIntegralLimit);
actuatorDesired.Pitch = stabSettings.PitchKp*pitchError + stabSettings.PitchKi*pitchIntegral + stabSettings.PitchKd*pitchDerivative;
@ -119,7 +119,7 @@ static void stabilizationTask(void* parameters)
pitchErrorLast = pitchError;
// Roll stabilization control loop
rollError = bound(attitudeDesired.Roll, -stabSettings.RollMax, stabSettings.RollMax) - attitudeActual.Roll;
rollError = attitudeDesired.Roll - attitudeActual.Roll;
rollDerivative = (rollError - rollErrorLast) / stabSettings.UpdatePeriod;
rollIntegral = bound(rollIntegral+rollError*stabSettings.UpdatePeriod, -stabSettings.RollIntegralLimit, stabSettings.RollIntegralLimit);
actuatorDesired.Roll = stabSettings.RollKp*rollError + stabSettings.RollKi*rollIntegral + stabSettings.RollKd*rollDerivative;