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resolved sign mistake by required accel z computing

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demvlad 2025-04-22 13:21:08 +03:00
parent bbb348575e
commit 1cedc2cb59
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/airplane_fcs.c
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@ -77,8 +77,8 @@ static void updateAstaticAccelZController(const pidProfile_t *pidProfile, float
{ {
if (pidProfile->afcs_pitch_accel_i_gain != 0) { if (pidProfile->afcs_pitch_accel_i_gain != 0) {
const float servoVelocityLimit = 100.0f / (pidProfile->afcs_servo_time * 0.001f); // Limit servo velocity %/s const float servoVelocityLimit = 100.0f / (pidProfile->afcs_servo_time * 0.001f); // Limit servo velocity %/s
float accelReq = pitchPilotCtrl > 0.0f ? (0.1f * pidProfile->afcs_pitch_accel_max - 1.0f) * pitchPilotCtrl * 0.01f + 1.0f float accelReq = pitchPilotCtrl < 0.0f ? (1.0f - 0.1f * pidProfile->afcs_pitch_accel_max) * pitchPilotCtrl * 0.01f + 1.0f
: (0.1f * pidProfile->afcs_pitch_accel_min + 1.0f) * pitchPilotCtrl * 0.01f + 1.0f; : -(1.0f + 0.1f * pidProfile->afcs_pitch_accel_min) * pitchPilotCtrl * 0.01f + 1.0f;
float accelDelta = accelZ - accelReq; float accelDelta = accelZ - accelReq;
float servoVelocity = accelDelta * (pidProfile->afcs_pitch_accel_i_gain * 0.1f); float servoVelocity = accelDelta * (pidProfile->afcs_pitch_accel_i_gain * 0.1f);
servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit); servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit);