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Code Issues Releases Activity

OP-1516 changed handling of integrals in acrop

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This commit is contained in:
Corvus Corax 2014-10-06 17:47:16 +02:00
parent b05bd2fb34
commit 270f6d87cd
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Stabilization/innerloop.c
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@ -293,10 +293,10 @@ static void stabilizationInnerloopTask()
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
pid_scaler ascaler = create_pid_scaler(t);
float factor = 1.0f - (fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor);
ascaler.i *= factor; // this prevents Integral from getting too high while controlled manually
ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
actuatorDesiredAxis[t] = (1.0f - factor) * stickinput[t] + factor * arate;
float factor = fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor;
actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
}
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT: