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Integral fixes, last parts

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Lorenz Meier
2013-11-05 09:20:07 +01:00
parent 1358d4cb88
commit d3b267c06e
2 changed files with 7 additions and 5 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+2 -3
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@@ -62,8 +62,7 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
/* get the usual dt estimate */ /* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run); uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time(); _last_run = ecl_absolute_time();
float dt = (float)dt_micros * 1e-6f;
float dt = dt_micros / 1000000;
/* lock integral for long intervals */ /* lock integral for long intervals */
if (dt_micros > 500000) 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; _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) { if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+5 -2
View File
@@ -64,8 +64,11 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
/* get the usual dt estimate */ /* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run); uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time(); _last_run = ecl_absolute_time();
float dt = (float)dt_micros * 1e-6f;
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000; /* 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_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc; float k_i_rate = _k_i * _tc;
@@ -90,7 +93,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
_rate_error = _rate_setpoint - roll_rate; _rate_error = _rate_setpoint - roll_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) { if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {