From 1e89f30120f30f0cac9c4bdd7b81ee2da96bcc8f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 24 Oct 2013 17:57:21 +0200 Subject: constrain integrator part in control output until startup detection is available for safety reasons --- src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp') diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index ab3ac0a9d..658a0a501 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -133,11 +133,12 @@ float ECL_RollController::control_bodyrate(float pitch, } /* integrator limit */ - _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); + //xxx: until start detection is available: integral part in control signal is limited here + float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max); //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* store non-limited output */ - _last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler; + _last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler; return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } -- cgit v1.2.3