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PID: ensure correct initialization with large sampling interval

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Thomas Geymayer 2013-12-22 12:43:47 +01:00
parent 0940a33907
commit 5b537b6999
1 changed files with 9 additions and 12 deletions
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21
src/Autopilot/pidcontroller.cxx
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@ -95,8 +95,13 @@ PIDController::PIDController():
void PIDController::update( bool firstTime, double dt )
{
double edf_n = 0.0;
double u_n = 0.0; // absolute output
if( firstTime ) {
ep_n_1 = 0.0;
edf_n_2 = edf_n_1 = 0.0;
// first time being enabled, seed with current property tree value
u_n_1 = get_output_value();
}
double u_min = _minInput.get_value();
double u_max = _maxInput.get_value();
@ -110,15 +115,6 @@ void PIDController::update( bool firstTime, double dt )
double Ts = elapsedTime; // sampling interval (sec)
elapsedTime = 0.0;
if( firstTime ) {
// first time being enabled, seed u_n with current
// property tree value
ep_n_1 = 0.0;
edf_n_2 = edf_n_1 = edf_n = 0.0;
u_n = get_output_value();
u_n_1 = u_n;
}
if( Ts > SGLimitsd::min()) {
if( _debug ) cout << "Updating " << get_name()
<< " Ts " << Ts << endl;
@ -137,6 +133,7 @@ void PIDController::update( bool firstTime, double dt )
double e_n = r_n - y_n;
if ( _debug ) cout << " e_n = " << e_n;
double edf_n = 0.0;
double td = Td.get_value();
if ( td > 0.0 ) { // do we need to calcluate derivative error?
@ -183,7 +180,7 @@ void PIDController::update( bool firstTime, double dt )
}
// Calculates absolute output:
u_n = u_n_1 + delta_u_n;
double u_n = u_n_1 + delta_u_n;
if ( _debug ) cout << " output = " << u_n << endl;
// Updates indexed values;