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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-27 18:56:45 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-27 18:56:45 +0200 |
| commit | 56f4849e872854e5483bcd1eaf277b9b8bb50a1c (patch) | |
| tree | b22287435fbc15518e21434b7244835085c8b024 /apps/fixedwing_att_control/fixedwing_att_control_rate.c | |
| parent | abcfe29c640315848f5080f57ec4c7117dc3f988 (diff) | |
| download | px4-firmware-56f4849e872854e5483bcd1eaf277b9b8bb50a1c.tar.gz px4-firmware-56f4849e872854e5483bcd1eaf277b9b8bb50a1c.tar.bz2 px4-firmware-56f4849e872854e5483bcd1eaf277b9b8bb50a1c.zip | |
changed headers
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_rate.c')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 959628be9..7c17e70f3 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -47,7 +47,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -178,6 +178,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); } + /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); |