reduce wheel control speed scaling

9 years ago · 9c70eb0b63
1 changed files with 2 additions and 1 deletions
--- a/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
@ -85,7 +85,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
				@@ -85,7 +85,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
        speed = ctl_data.ground_speed;
    }

-    float scaler = 1.0f / speed;
+    /* only scale a certain amount with speed else the corrections get to small */
+    float scaler = 0.7f + 0.3f / speed;

    /* Calculate body angular rate error */
    _rate_error = _rate_setpoint - ctl_data.yaw_rate; //body angular rate error