From 80b6757ea6bca732f4e0d41afb284ff590469f12 Mon Sep 17 00:00:00 2001 From: Werner Backes Date: Sun, 14 Sep 2014 15:39:13 +0200 Subject: [PATCH] Don't use I-term in the VtolPathFollower's position control loop for now. See OP-1483 for why it's considered not to work as expected. --- flight/modules/PathFollower/pathfollower.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/flight/modules/PathFollower/pathfollower.c b/flight/modules/PathFollower/pathfollower.c index bd6372b17..394fe2e33 100644 --- a/flight/modules/PathFollower/pathfollower.c +++ b/flight/modules/PathFollower/pathfollower.c @@ -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