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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-11 07:44:03 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-11 07:44:03 +0100 |
| commit | dc100f20201974eeae8743e1184efe6be1e31e6f (patch) | |
| tree | 438467d1ab1f8280f7e8c372581c0a7f019d2174 /apps/fixedwing_att_control/fixedwing_att_control_att.c | |
| parent | 9ab20b11b6a528ef2ae4197e9cd412de52b1d024 (diff) | |
| download | px4-firmware-dc100f20201974eeae8743e1184efe6be1e31e6f.tar.gz px4-firmware-dc100f20201974eeae8743e1184efe6be1e31e6f.tar.bz2 px4-firmware-dc100f20201974eeae8743e1184efe6be1e31e6f.zip | |
Fixedwing controller code style
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_att.c')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.c | 13 |
1 files changed, 6 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 957036b41..b012448a2 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -112,9 +112,9 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc } int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp) + const struct vehicle_attitude_s *att, + const float speed_body[], + struct vehicle_rates_setpoint_s *rates_sp) { static int counter = 0; static bool initialized = false; @@ -126,8 +126,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att static PID_t pitch_controller; - if(!initialized) - { + if (!initialized) { parameters_init(&h); parameters_update(&h, &p); pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller @@ -153,8 +152,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body)); /* set pitch plus feedforward roll compensation */ rates_sp->pitch = pid_calculate(&pitch_controller, - att_sp->pitch_body + pitch_sp_rollcompensation, - att->pitch, 0, 0); + att_sp->pitch_body + pitch_sp_rollcompensation, + att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) |