manual merge fw_integrator_fix_ouputlimit into fw_staging_ouputlimit

1 files changed, 4 insertions, 4 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 9e2007131..0772f88bc 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -132,12 +132,12 @@ float ECL_RollController::control_bodyrate(float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
-//	warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
-//	warnx("roll: _last_output %.4f", (double)_last_output);
+	_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }