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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 12:53:06 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 12:53:06 +0400 |
| commit | 7d80f05b4d857b933cf7aca106ac55a7111e3b35 (patch) | |
| tree | d192484faa94d1f2d1bd58e2de679ca836309a96 /src/modules/mc_att_control | |
| parent | 9665d38940dec371be3dd1c5e711a670162e2a30 (diff) | |
| download | px4-firmware-7d80f05b4d857b933cf7aca106ac55a7111e3b35.tar.gz px4-firmware-7d80f05b4d857b933cf7aca106ac55a7111e3b35.tar.bz2 px4-firmware-7d80f05b4d857b933cf7aca106ac55a7111e3b35.zip | |
mc_att_control: more strict conditions for integrating
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index db5e2e9bb..8de0f0b39 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -86,7 +86,7 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); #define MIN_TAKEOFF_THROTTLE 0.3f #define YAW_DEADZONE 0.05f -#define RATES_I_LIMIT 0.5f +#define RATES_I_LIMIT 0.3f class MulticopterAttitudeControl { @@ -658,7 +658,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt) _rates_prev = rates; /* update integral only if not saturated on low limit */ - if (_thrust_sp > 0.1f) { + if (_thrust_sp > 0.2f) { for (int i = 0; i < 3; i++) { if (fabsf(_att_control(i)) < _thrust_sp) { float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; |