fw att control: bugfixes for integrator

1 files changed, 4 insertions, 7 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index e1f4d3eef..5fe55163f 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -116,8 +116,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
-
-	float dt = dt_micros / 1000000;
+	float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
 	if (dt_micros > 500000)
@@ -142,11 +141,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 
 	_rate_error = _bodyrate_setpoint - pitch_bodyrate;
 
-	float ilimit_scaled = 0.0f;
-
 	if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-		float id = _rate_error * k_i_rate * dt * scaler;
+		float id = _rate_error * dt;
 
 		/*
 		 * anti-windup: do not allow integrator to increase into the
@@ -164,9 +161,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
+	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }