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AC_PosControl: Include FF in _pid_vel_xy integrator initialisation #22506

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Dec 27, 2022
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AC_PosControl: Include FF in _pid_vel_xy integrator initialisation #22506

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4 changes: 1 addition & 3 deletions libraries/AC_AttitudeControl/AC_PosControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -448,8 +448,6 @@ void AC_PosControl::init_xy_controller_stopping_point()
get_stopping_point_xy_cm(_pos_target.xy());
_vel_desired.xy().zero();
_accel_desired.xy().zero();

_pid_vel_xy.set_integrator(_accel_target);
}

// relax_velocity_controller_xy - initialise the position controller to the current position and velocity with decaying acceleration.
Expand Down Expand Up @@ -513,7 +511,7 @@ void AC_PosControl::init_xy_controller()
_pid_vel_xy.reset_filter();
// initialise the I term to _accel_target - _accel_desired
// _accel_desired is zero and can be removed from the equation
_pid_vel_xy.set_integrator(_accel_target);
_pid_vel_xy.set_integrator(_accel_target.xy() - _vel_target.xy() * _pid_vel_xy.ff());

// initialise ekf xy reset handler
init_ekf_xy_reset();
Expand Down