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Code Issues Releases Activity

LP-289 prevent initialization with non-zero pid->I accumulator (dangerous if kI is low)

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Eric Price 2017-03-09 18:48:36 +01:00 committed by paul Jewell
parent ebc4b16d9a
commit fb5f9034ea
1 changed files with 4 additions and 1 deletions
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5
flight/libraries/math/pid.c
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@ -221,7 +221,10 @@ float pid2_apply(
pid->D = 0.0f; pid->D = 0.0f;
// t=0, u=u0, y=y0, v=u // t=0, u=u0, y=y0, v=u
pid->I = (pid->u0 - pid->va) / pid->vb - pid->kp * (pid->beta * r - y); // pid->I = (pid->u0 - pid->va) / pid->vb - pid->kp * (pid->beta * r - y);
// this is dangerous, if pid->I starts nonzero with very low or zero kI, then
// it will never settle!
pid->I = 0.0f;
} }
// compute proportional part // compute proportional part