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GUIDANCE_V_GAIN_SCALER Caused overflow in vertical d and i gain

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bartremes
2012-04-10 15:25:26 +02:00
committed by Felix Ruess
parent bd88929991
commit f2a901bac5
1 changed files with 4 additions and 4 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+4 -4
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@@ -284,11 +284,11 @@ __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flig
/* our error feed back command */
/* z-axis pointing down -> positive error means we need less thrust */
guidance_v_fb_cmd = ((-guidance_v_kp * GUIDANCE_V_GAIN_SCALER * err_z) >> 12) +
((-guidance_v_kd * GUIDANCE_V_GAIN_SCALER * err_zd) >> 21) +
((-guidance_v_ki * GUIDANCE_V_GAIN_SCALER * guidance_v_z_sum_err) >> 21);
guidance_v_fb_cmd = ((-guidance_v_kp * err_z) >> 12) +
((-guidance_v_kd * err_zd) >> 21) +
((-guidance_v_ki * guidance_v_z_sum_err) >> 21);
guidance_v_delta_t = guidance_v_ff_cmd + guidance_v_fb_cmd;
guidance_v_delta_t = guidance_v_ff_cmd + (guidance_v_fb_cmd * GUIDANCE_V_GAIN_SCALER);
/* bound the result */
Bound(guidance_v_delta_t, 0, MAX_PPRZ);