FixedWingAttitudeControl: don't lock integrator during transition #12358
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- airframes that are not well trimmed rely on the integrator to learn the offset. This change can help improve altitude hold during transitions Signed-off-by: RomanBapst <[email protected]>
dagar
approved these changes
Jun 28, 2019
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This change enables the integrator of the fixed wing rate controller during transitions.
This can help improve attitude tracking during transitions, especially if there are trim offsets that need to be learned.
This change was tested on a delta quad and showed to improve attitude tracking and thus altitude tracking during transitions.
Results prior to this fix:
Results with the fix:
