From fda4c134644b418a0bf63ef36eabf88bcde3f0af Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 5 Jul 2013 13:49:45 -1000
Subject: [PATCH] Copter: yaw limit fix to allow I to reduce
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
---
ArduCopter/Attitude.pde | 12 ++++++++----
1 file changed, 8 insertions(+), 4 deletions(-)
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index df00720b0..590a44730 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -522,12 +522,16 @@ get_rate_yaw(int32_t target_rate)
// separately calculate p, i, d values for logging
p = g.pid_rate_yaw.get_p(rate_error);
- // freeze I term if we've breached yaw limits
- if( motors.reached_limit(AP_MOTOR_YAW_LIMIT) ) {
- i = g.pid_rate_yaw.get_integrator();
- }else{
+
+ // get i term
+ i = g.pid_rate_yaw.get_integrator();
+
+ // update i term as long as we haven't breached the limits or the I term will certainly reduce
+ if (!motors.reached_limit(AP_MOTOR_YAW_LIMIT) || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
}
+
+ // get d value
d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
output = p+i+d;
--
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