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| author | Julian Oes <julian@oes.ch> | 2013-06-19 12:01:22 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-19 12:01:22 +0200 |
| commit | c1049483a82857bebb012607578add9492446321 (patch) | |
| tree | 6c5121070c64bb04417fa1bbc6cadf8c2d36bd55 /src | |
| parent | d6c15b16792f3f087a0d934677615949c9e12688 (diff) | |
| download | px4-firmware-c1049483a82857bebb012607578add9492446321.tar.gz px4-firmware-c1049483a82857bebb012607578add9492446321.tar.bz2 px4-firmware-c1049483a82857bebb012607578add9492446321.zip | |
Added integral reset for rate controller
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e37ede3e0..a0266e1b3 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -199,6 +199,12 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); } + /* reset integral if on ground */ + if (rate_sp->thrust < 0.01f) { + pid_reset_integral(&pitch_rate_controller); + pid_reset_integral(&roll_rate_controller); + } + /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); |