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Launch Control: Add yaw iterm windup limit

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When operating in `launch_control_mode = FULL` mode (all axes), limit the yaw iterm to reduce the risk of windup.
This commit is contained in:
Bruce Luckcuck 2018-11-14 17:23:20 -05:00
parent 37c314976b
commit 932b8e01c8
1 changed files with 5 additions and 4 deletions
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9
src/main/flight/pid.c
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@ -112,6 +112,8 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define CRASH_RECOVERY_DETECTION_DELAY_US 1000000 // 1 second delay before crash recovery detection is active after entering a self-level mode
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5);
void resetPidProfile(pidProfile_t *pidProfile)
@ -1230,10 +1232,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
// Disable P/I appropriately based on the launch control mode
if (launchControlActive) {
// if not using FULL mode then disable I accumulation on yaw as
// yaw has a tendency to windup
if (launchControlMode != LAUNCH_CONTROL_MODE_FULL) {
pidData[FD_YAW].I = 0;
}
// yaw has a tendency to windup. Otherwise limit yaw iterm accumulation.
const int launchControlYawItermLimit = (launchControlMode == LAUNCH_CONTROL_MODE_FULL) ? LAUNCH_CONTROL_YAW_ITERM_LIMIT : 0;
pidData[FD_YAW].I = constrainf(pidData[FD_YAW].I, -launchControlYawItermLimit, launchControlYawItermLimit);
// for pitch-only mode we disable everything except pitch P/I
if (launchControlMode == LAUNCH_CONTROL_MODE_PITCHONLY) {