fw control: attitude, added pid elements

1 files changed, 4 insertions, 8 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 24dce199f..4b7e2c2ba 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -116,10 +116,6 @@ static int parameters_init(struct fw_rate_control_param_handles *h)
 	h->yawrate_awu =	param_find("FW_YAWRATE_AWU");
 	h->yawrate_lim =	param_find("FW_YAWRATE_LIM");
 
-
-//	if(h->attrate_i == PARAM_INVALID)
-//		printf("FATAL MC_ATTRATE_I does not exist\n");
-
 	return OK;
 }
 
@@ -163,19 +159,19 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
+		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
+		parameters_update(&h, &p);
 		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
 		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
 		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim);
-		parameters_update(&h, &p);
 	}