mc_att_control: reenable TPA for I term #9166
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In commit eb67686 the TPA scaled integral gain was reverted back to the normal unscaled gain which rendered the I part of TPA useless.
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I don't like TPA anyways because it's a hack and hard to tune. But it's probably a necessary hack if you want to get good high total thrust perfomance from a vehicle with non-linear thrust response which is to be expected if you don't compensate the thrust curve. Still probably noone really uses it... |
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@MaEtUgR thanks for digging up the history. It's interesting (at least to me) how these subtle errors get introduced, and what we could have done to catch them in the first place. In d6e9287 I commented it out because it wasn't actually be used anywhere. At the time I likely assumed it had slipped through never being used and wanted to at least make it obvious. |
dagar
approved these changes
Mar 26, 2018
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As a reaction to #9113 (comment) I started into looking why this line https://github.com/PX4/Firmware/blob/500a1c808d0c392bc1836e6bf2f57e418414dae9/src/modules/mc_att_control/mc_att_control_main.cpp#L522 was commented out.
It was:
This pr should finally introduce TPA for the I term back...