fw attitude control: compute integrator correctly

- I gain was applied wrongly, such that the integrator value was depending direcly on the I gain. This made the integrator value jump when the gain was changed Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago · 55401ec1b0
1 changed files with 1 additions and 1 deletions
--- a/attitude_fw/ecl_roll_controller.cpp
+++ b/attitude_fw/ecl_roll_controller.cpp
@ -124,7 +124,7 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
				@@ -124,7 +124,7 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat

 	/* integrator limit */
 	//xxx: until start detection is available: integral part in control signal is limited here
-	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+	float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);

 	/* Apply PI rate controller and store non-limited output */
 	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +