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Clarify rates control code

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Oleg Kalachev
2024-01-06 00:08:30 +03:00
parent 7a62229125
commit 476f24f774
1 changed files with 5 additions and 3 deletions
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8
flix/control.ino
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@@ -137,10 +137,12 @@ void controlRate() {
} }
Vector ratesFiltered = ratesFilter.update(rates); Vector ratesFiltered = ratesFilter.update(rates);
Vector error = ratesTarget - ratesFiltered;
torqueTarget.x = rollRatePID.update(ratesTarget.x - ratesFiltered.x, dt); // un-normalized "torque" // Calculate desired torque, where 0 - no torque, 1 - maximum possible torque
torqueTarget.y = pitchRatePID.update(ratesTarget.y - ratesFiltered.y, dt); torqueTarget.x = rollRatePID.update(error.x, dt);
torqueTarget.z = yawRatePID.update(ratesTarget.z - ratesFiltered.z, dt); torqueTarget.y = pitchRatePID.update(error.y, dt);
torqueTarget.z = yawRatePID.update(error.z, dt);
} }
void controlTorque() { void controlTorque() {