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Stabilization: When in none mode zero the integral accumulators for rate and

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attitude loops.  When not using outer loop zero that accumulator.
This commit is contained in:
James Cotton 2011-09-11 16:33:38 -05:00
parent 6945f17eba
commit b38081bb1b
1 changed files with 11 additions and 0 deletions
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11
flight/Modules/Stabilization/stabilization.c
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@ -235,6 +235,9 @@ static void stabilizationTask(void* parameters)
{ {
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[i] = attitudeDesiredAxis[i]; rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i] = 0;
axis_lock_accum[i] = 0; axis_lock_accum[i] = 0;
break; break;
@ -249,6 +252,8 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling; rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i] = 0;
axis_lock_accum[i] = 0; axis_lock_accum[i] = 0;
break; break;
} }
@ -314,14 +319,20 @@ static void stabilizationTask(void* parameters)
case ROLL: case ROLL:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1; shouldUpdate = 1;
pids[PID_RATE_ROLL].iAccumulator = 0;
pids[PID_ROLL].iAccumulator = 0;
break; break;
case PITCH: case PITCH:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1; shouldUpdate = 1;
pids[PID_RATE_PITCH].iAccumulator = 0;
pids[PID_PITCH].iAccumulator = 0;
break; break;
case YAW: case YAW:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1; shouldUpdate = 1;
pids[PID_RATE_YAW].iAccumulator = 0;
pids[PID_YAW].iAccumulator = 0;
break; break;
} }
break; break;