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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-29 23:04:00 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-29 23:09:07 +0100 |
| commit | 9ad9d62f3476e6092c8fbbf33f4e6a141fd641c3 (patch) | |
| tree | e55b1517fa169dfb97fa3ed00d56926bbc8e74ec | |
| parent | db8d369c55d091b988a054ad39fd323e945a9bb0 (diff) | |
| download | px4-firmware-9ad9d62f3476e6092c8fbbf33f4e6a141fd641c3.tar.gz px4-firmware-9ad9d62f3476e6092c8fbbf33f4e6a141fd641c3.tar.bz2 px4-firmware-9ad9d62f3476e6092c8fbbf33f4e6a141fd641c3.zip | |
Corrected some bugs, thanks to Doug for spotting them
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.c | 7 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.h | 2 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.h | 2 |
3 files changed, 4 insertions, 7 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 29e9ee1bc..18b290f99 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -66,7 +66,6 @@ struct fw_att_control_params { float roll_p; float rollrate_lim; float pitch_p; - float pitch_lim; float pitchrate_lim; float yawrate_lim; float pitch_roll_compensation_p; @@ -76,7 +75,6 @@ struct fw_pos_control_param_handles { param_t roll_p; param_t rollrate_lim; param_t pitch_p; - param_t pitch_lim; param_t pitchrate_lim; param_t yawrate_lim; param_t pitch_roll_compensation_p; @@ -94,7 +92,6 @@ static int parameters_init(struct fw_pos_control_param_handles *h) h->roll_p = param_find("FW_ROLL_P"); h->rollrate_lim = param_find("FW_ROLLR_LIM"); h->pitch_p = param_find("FW_PITCH_P"); - h->pitch_lim = param_find("FW_PITCH_LIM"); h->pitchrate_lim = param_find("FW_PITCHR_LIM"); h->yawrate_lim = param_find("FW_YAWR_LIM"); h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); @@ -141,7 +138,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.pitchrate_lim); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); } @@ -150,7 +147,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att /* Pitch (P) */ float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan; - rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0); + rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ //TODO diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h index f4d3eca7c..ca7c14b43 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* @file Main system state machine definition */ +/* @file Fixed Wing Attitude Control */ #ifndef FIXEDWING_ATT_CONTROL_ATT_H_ #define FIXEDWING_ATT_CONTROL_ATT_H_ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h index 2023353eb..d394c3dac 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* @file Main system state machine definition */ +/* @file Fixed Wing Attitude Rate Control */ #ifndef FIXEDWING_ATT_CONTROL_RATE_H_ #define FIXEDWING_ATT_CONTROL_RATE_H_ |