From 76bf9c6465a7bdae7c2037cf0cb17c451fcd26b2 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 26 Mar 2018 16:59:08 +0100
Subject: [PATCH] mc_att_control: reenable TPA for I term
In commit
eb67686b110a995a258e80298fe180149c41c2a5
the TPA scaled integral gain was reverted back to the
normal unscaled gain which rendered the I part of TPA
useless.
---
src/modules/mc_att_control/mc_att_control_main.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index b23ea997fd..96362c76a9 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -519,7 +519,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
rates(2) -= _sensor_bias.gyro_z_bias;
Vector3f rates_p_scaled = _rate_p.emult(pid_attenuations(_tpa_breakpoint_p.get(), _tpa_rate_p.get()));
- //Vector3f rates_i_scaled = _rate_i.emult(pid_attenuations(_tpa_breakpoint_i.get(), _tpa_rate_i.get()));
+ Vector3f rates_i_scaled = _rate_i.emult(pid_attenuations(_tpa_breakpoint_i.get(), _tpa_rate_i.get()));
Vector3f rates_d_scaled = _rate_d.emult(pid_attenuations(_tpa_breakpoint_d.get(), _tpa_rate_d.get()));
/* angular rates error */
@@ -567,7 +567,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
}
// Perform the integration using a first order method and do not propagate the result if out of range or invalid
- float rate_i = _rates_int(i) + _rate_i(i) * rates_err(i) * dt;
+ float rate_i = _rates_int(i) + rates_i_scaled(i) * rates_err(i) * dt;
if (PX4_ISFINITE(rate_i) && rate_i > -_rate_int_lim(i) && rate_i < _rate_int_lim(i)) {
_rates_int(i) = rate_i;
--
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