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Code Issues Releases Activity

Don't use I-term in the VtolPathFollower's position control loop for now.

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See OP-1483 for why it's considered not to work as expected.
This commit is contained in:
Werner Backes 2014-09-14 15:39:13 +02:00
parent 25c718aaa8
commit 80b6757ea6
1 changed files with 3 additions and 3 deletions
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6
flight/modules/PathFollower/pathfollower.c
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@ -376,14 +376,14 @@ static uint8_t updateAutoPilotVtol()
}
// vertical positon control PID loops works the same in both regular and fallback modes, setup according to settings
pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.VerticalPosPI.Ki, 0.0f, vtolPathFollowerSettings.VerticalPosPI.ILimit);
pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, 0.0f, 0.0f, 0.0f);
switch (followermode) {
case FOLLOWER_REGULAR:
{
// horizontal position control PID loop works according to settings in regular mode, allowing integral terms
pid_configure(&global.PIDposH[0], vtolPathFollowerSettings.HorizontalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit);
pid_configure(&global.PIDposH[1], vtolPathFollowerSettings.HorizontalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit);
pid_configure(&global.PIDposH[0], vtolPathFollowerSettings.HorizontalPosPI.Kp, 0.0f, 0.0f, 0.0f);
pid_configure(&global.PIDposH[1], vtolPathFollowerSettings.HorizontalPosPI.Kp, 0.0f, 0.0f, 0.0f);
updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, false);
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm