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Code Issues Wiki Activity

Correctly reset Dterm filter

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-02-23 20:23:57 +01:00
parent 4ca21cd2b3
commit e01d16a81d
2 changed files with 1 additions and 6 deletions
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4
src/main/navigation/navigation.c
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@ -1703,7 +1703,6 @@ float navPidApply2(pidController_t *pid, const float setpoint, const float measu
return navPidApply3(pid, setpoint, measurement, dt, outMin, outMax, pidFlags, 1.0f); return navPidApply3(pid, setpoint, measurement, dt, outMin, outMax, pidFlags, 1.0f);
} }
void navPidReset(pidController_t *pid) void navPidReset(pidController_t *pid)
{ {
pid->reset = true; pid->reset = true;
@ -1713,8 +1712,7 @@ void navPidReset(pidController_t *pid)
pid->integrator = 0.0f; pid->integrator = 0.0f;
pid->last_input = 0.0f; pid->last_input = 0.0f;
pid->feedForward = 0.0f; pid->feedForward = 0.0f;
pid->dterm_filter_state.state = 0.0f; pt1FilterReset(&pid->dterm_filter_state, 0.0f);
pid->dterm_filter_state.RC = 0.0f;
pid->output_constrained = 0.0f; pid->output_constrained = 0.0f;
} }

3
src/main/navigation/navigation_multicopter.c
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@ -263,7 +263,6 @@ bool adjustMulticopterHeadingFromRCInput(void)
/*----------------------------------------------------------- /*-----------------------------------------------------------
* XY-position controller for multicopter aircraft * XY-position controller for multicopter aircraft
*-----------------------------------------------------------*/ *-----------------------------------------------------------*/
static pt1Filter_t mcPosControllerAccFilterStateX, mcPosControllerAccFilterStateY;
static float lastAccelTargetX = 0.0f, lastAccelTargetY = 0.0f; static float lastAccelTargetX = 0.0f, lastAccelTargetY = 0.0f;
void resetMulticopterBrakingMode(void) void resetMulticopterBrakingMode(void)
@ -363,8 +362,6 @@ void resetMulticopterPositionController(void)
for (int axis = 0; axis < 2; axis++) { for (int axis = 0; axis < 2; axis++) {
navPidReset(&posControl.pids.vel[axis]); navPidReset(&posControl.pids.vel[axis]);
posControl.rcAdjustment[axis] = 0; posControl.rcAdjustment[axis] = 0;
pt1FilterReset(&mcPosControllerAccFilterStateX, 0.0f);
pt1FilterReset(&mcPosControllerAccFilterStateY, 0.0f);
lastAccelTargetX = 0.0f; lastAccelTargetX = 0.0f;
lastAccelTargetY = 0.0f; lastAccelTargetY = 0.0f;
} }