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APM_Control: AP_RollContoroller: move rate limit #11237

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May 6, 2019
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APM_Control: AP_RollContoroller: move rate limit #11237

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15 changes: 7 additions & 8 deletions libraries/APM_Control/AP_RollController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,14 +105,6 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
float kp_ff = MAX((gains.P - gains.I * gains.tau) * gains.tau - gains.D , 0) / eas2tas;
float k_ff = gains.FF / eas2tas;
float delta_time = (float)dt * 0.001f;

// Limit the demanded roll rate
if (gains.rmax && desired_rate < -gains.rmax) {
desired_rate = - gains.rmax;
} else if (gains.rmax && desired_rate > gains.rmax) {
desired_rate = gains.rmax;
}

// Get body rate vector (radians/sec)
float omega_x = _ahrs.get_gyro().x;

Expand Down Expand Up @@ -210,6 +202,13 @@ int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool d
// Calculate the desired roll rate (deg/sec) from the angle error
float desired_rate = angle_err * 0.01f / gains.tau;

// Limit the demanded roll rate
if (gains.rmax && desired_rate < -gains.rmax) {
desired_rate = - gains.rmax;
} else if (gains.rmax && desired_rate > gains.rmax) {
desired_rate = gains.rmax;
}

return _get_rate_out(desired_rate, scaler, disable_integrator);
}

Expand Down