diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index d876f1a39..2eb58abd6 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -62,8 +62,7 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc /* get the usual dt estimate */ uint64_t dt_micros = ecl_elapsed_time(&_last_run); _last_run = ecl_absolute_time(); - - float dt = dt_micros / 1000000; + float dt = (float)dt_micros * 1e-6f; /* lock integral for long intervals */ if (dt_micros > 500000) @@ -115,7 +114,7 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc _rate_error = _rate_setpoint - pitch_rate; - float ilimit_scaled = 0.0f; + float ilimit_scaled = _integrator_max * scaler; if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) { |