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 | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 1aac82792..ab3ac0a9d 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -86,7 +86,11 @@ float ECL_RollController::control_bodyrate(float pitch, /* get the usual dt estimate */ uint64_t dt_micros = ecl_elapsed_time(&_last_run); _last_run = ecl_absolute_time(); - float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f; + float dt = (float)dt_micros * 1e-6f; + + /* lock integral for long intervals */ + if (dt_micros > 500000) + lock_integrator = true; float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); float k_i_rate = _k_i * _tc; |