constrain integrator part in control output until startup detection is available for safety reasons

3 files changed, 9 insertions, 6 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index eb1031cd3..4b43e73e6 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -161,9 +161,10 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + integrator_constrained  * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index ab3ac0a9d..658a0a501 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -133,11 +133,12 @@ float ECL_RollController::control_bodyrate(float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
 	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
 
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index e56a8d08d..b6938a59a 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -147,9 +147,10 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }