diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 9e2007131..0772f88bc 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -132,12 +132,12 @@ float ECL_RollController::control_bodyrate(float pitch, } /* integrator limit */ - _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); -// warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i); + //xxx: until start detection is available: integral part in control signal is limited here + float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max); + //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* 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 is proportional to 1/airspeed -// warnx("roll: _last_output %.4f", (double)_last_output); + _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed return math::constrain(_last_output, -1.0f, 1.0f); } |