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fix: clear I term when restart PID controller #12

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fix: clear I term when restart PID controller #12

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21 changes: 21 additions & 0 deletions src/control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,11 @@ void MainWindow::closeControl()
roll_now = vehicle_data->roll * degreePerRad; // degree

// depth controller start
static bool depthPidStart = true;
if (!ui->depthPidCheckBox->checkState())
{
depth_pwm_out = 0;
depthPidStart = true;
}
else
{
Expand All @@ -69,6 +71,11 @@ void MainWindow::closeControl()

double P_term = 0;
static double I_term;
if (depthPidStart)
{
I_term = 0;
depthPidStart = false;
}
double D_term = 0;

double depth_err = 0; // declare the depth error
Expand Down Expand Up @@ -134,9 +141,11 @@ void MainWindow::closeControl()
} // depth controller end

// yaw controller start
static bool yawPidStart = true;
if (!ui->yawPidCheckBox->checkState())
{
yaw_pwm_out = 0;
yawPidStart = true;
}
else
{
Expand All @@ -158,6 +167,11 @@ void MainWindow::closeControl()

double P_term = 0;
static double I_term;
if (yawPidStart)
{
I_term = 0;
yawPidStart = false;
}
double D_term = 0;

double yaw_err = 0; // declare the depth error
Expand Down Expand Up @@ -232,9 +246,11 @@ void MainWindow::closeControl()
} // yaw controller end

// pitch controller start
static bool pitchPidStart = true;
if (!ui->pitchPidCheckBox->checkState())
{
pitch_pwm_out = 0;
pitchPidStart = true;
}
else
{
Expand All @@ -256,6 +272,11 @@ void MainWindow::closeControl()

double P_term = 0;
static double I_term;
if (pitchPidStart)
{
I_term = 0;
pitchPidStart = false;
}
double D_term = 0;

double pitch_err = 0; // declare the pitch error
Expand Down