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Resolved wrong pitch stick sign issue

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This commit is contained in:
demvlad 2025-04-21 21:17:41 +03:00
parent c764c1f093
commit bbb348575e
1 changed files with 5 additions and 5 deletions
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10
src/main/flight/airplane_fcs.c
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@ -79,7 +79,7 @@ static void updateAstaticAccelZController(const pidProfile_t *pidProfile, float
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 ? (0.1f * pidProfile->afcs_pitch_accel_max - 1.0f) * pitchPilotCtrl * 0.01f + 1.0f
: (0.1f * pidProfile->afcs_pitch_accel_min + 1.0f) * pitchPilotCtrl * 0.01f + 1.0f; : (0.1f * pidProfile->afcs_pitch_accel_min + 1.0f) * pitchPilotCtrl * 0.01f + 1.0f;
float accelDelta = accelReq - accelZ; 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);
pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT; pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT;
@ -108,16 +108,16 @@ static bool updateAngleOfAttackLimiter(const pidProfile_t *pidProfile, float lif
float liftCoefDiff = 0.0f, float liftCoefDiff = 0.0f,
servoVelocity = 0.0f; servoVelocity = 0.0f;
if (liftCoef > 0.0f) { if (liftCoef > 0.0f) {
liftCoefDiff = limitLiftC - liftCoef; liftCoefDiff = liftCoef - limitLiftC;
if (liftCoefDiff < 0.0f) { if (liftCoefDiff > 0.0f) {
isLimitAoA = true; isLimitAoA = true;
servoVelocity = liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f); servoVelocity = liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f);
servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit); servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit);
pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT; pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT;
} }
} else { } else {
liftCoefDiff = -limitLiftC - liftCoef; liftCoefDiff = liftCoef + limitLiftC;
if (liftCoefDiff > 0.0f) { if (liftCoefDiff < 0.0f) {
isLimitAoA = true; isLimitAoA = true;
servoVelocity = liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f); servoVelocity = liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f);
servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit); servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit);