wip fw ctrl, several small bugfixes, set limit to 1

1 files changed, 8 insertions, 7 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index f3909593a..e5bd7b4f7 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -54,8 +54,7 @@ ECL_RollController::ECL_RollController() :
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f),
-	_max_deflection_rad(math::radians(45.0f))
+	_bodyrate_setpoint(0.0f)
 {
 
 }
@@ -96,6 +95,7 @@ float ECL_RollController::control_bodyrate(float pitch,
 	float k_ff = 0; //xxx: param
 
 	/* input conditioning */
+//	warnx("airspeed pre %.4f", (double)airspeed);
 	if (!isfinite(airspeed)) {
 		/* airspeed is NaN, +- INF or not available, pick center of band */
 		airspeed = 0.5f * (airspeed_min + airspeed_max);
@@ -120,10 +120,10 @@ float ECL_RollController::control_bodyrate(float pitch,
 		/*
 		 * anti-windup: do not allow integrator to increase if actuator is at limit
 		 */
-		if (_last_output < -_max_deflection_rad) {
+		if (_last_output < -1.0f) {
 			/* only allow motion to center: increase value */
 			id = math::max(id, 0.0f);
-		} else if (_last_output > _max_deflection_rad) {
+		} else if (_last_output > 1.0f) {
 			/* only allow motion to center: decrease value */
 			id = math::min(id, 0.0f);
 		}
@@ -133,12 +133,13 @@ float ECL_RollController::control_bodyrate(float pitch,
 
 	/* integrator limit */
 	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
-	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
+	warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
 
 	/* 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^2 is proportional to 1/airspeed^2
+	_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);
 
-	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
+	return math::constrain(_last_output, -1.0f, 1.0f);
 }
 
 void ECL_RollController::reset_integrator()