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PID take away antiwindup protection

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This commit is contained in:
johan9107 2016-11-01 10:03:35 +01:00
parent 40454ae608
commit c6d50810cb
1 changed files with 14 additions and 14 deletions
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24
UAV-ControlSystem/src/Flight/pid.c
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@ -315,14 +315,14 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
ITerm = constrainf(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I); ITerm = constrainf(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I);
// Anti windup protection // Anti windup protection
if (motorLimitReached) // if (motorLimitReached)
{ // {
ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]); // ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
} // }
else // else
{ // {
pidProfileBuff->ITermLimit[axis] = abs(ITerm); // pidProfileBuff->ITermLimit[axis] = abs(ITerm);
} // }
pidProfileBuff->lastITerm[axis] = ITerm; pidProfileBuff->lastITerm[axis] = ITerm;
@ -631,10 +631,10 @@ void pidEproom(void)
PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2; PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100; PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //<2F>NDRA TILL SEKUNDER inte ms PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000; //<2F>NDRA TILL SEKUNDER inte ms
PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000000; PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000;
PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000000; PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000;
PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000000; PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000;