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Skip attitude/rate control if thrustTarget is ineffective

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To prevent i term windup.
This commit is contained in:
Oleg Kalachev
2025-10-20 23:01:17 +03:00
parent ca595edce5
commit 8c49a40516
1 changed files with 2 additions and 2 deletions
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4
flix/control.ino
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@@ -99,7 +99,7 @@ void interpretControls() {
} }
void controlAttitude() { void controlAttitude() {
if (!armed || attitudeTarget.invalid()) return; // skip attitude control if (!armed || attitudeTarget.invalid() || thrustTarget < 0.1) return; // skip attitude control
const Vector up(0, 0, 1); const Vector up(0, 0, 1);
Vector upActual = Quaternion::rotateVector(up, attitude); Vector upActual = Quaternion::rotateVector(up, attitude);
@@ -116,7 +116,7 @@ void controlAttitude() {
void controlRates() { void controlRates() {
if (!armed || ratesTarget.invalid()) return; // skip rates control if (!armed || ratesTarget.invalid() || thrustTarget < 0.1) return; // skip rates control
Vector error = ratesTarget - rates; Vector error = ratesTarget - rates;