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Stabilization: Add optional integral decay to rate mode. #1747

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Stabilization: Add optional integral decay to rate mode. #1747

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3 changes: 3 additions & 0 deletions flight/Modules/Stabilization/stabilization.c
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Original file line number Diff line number Diff line change
Expand Up @@ -583,6 +583,9 @@ static void stabilizationTask(void* parameters)
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], get_deadband(i), rateDesiredAxis[i], gyro_filtered[i], dT_expected);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);

// apply integral decay to roll and pitch if integral decay is non-zero
if((i == ROLL || i == PITCH) && settings.IntegralDecay[i] > 0.001f) pids[PID_GROUP_RATE + i].iAccumulator *= powf(0.01f,dT_expected/settings.IntegralDecay[i]);

break;

case STABILIZATIONDESIRED_STABILIZATIONMODE_ACRODYNE:
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1 change: 1 addition & 0 deletions shared/uavobjectdefinition/stabilizationsettings.xml
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Expand Up @@ -26,6 +26,7 @@
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:20,%BE:0:20,"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:20,%BE:0:20,"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:20,%BE:0:20,"/>
<field name="IntegralDecay" units="seconds" type="float" elementnames="Roll,Pitch" defaultvalue="0,0" limits="%BE:0:10,%BE:0:10"/>
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="0.6"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
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