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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-13 12:49:33 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-13 12:49:33 +0100 |
| commit | d129eff5b980f160f48a31af33ea2e8f074e61dd (patch) | |
| tree | a6fcc8db5ae9a3b8800d1758a460a3ed6f27c932 /apps/fixedwing_att_control/fixedwing_att_control_rate.c | |
| parent | f57b7fe0dd65893c5f558206dbff4f84ea1cf3f1 (diff) | |
| download | px4-firmware-d129eff5b980f160f48a31af33ea2e8f074e61dd.tar.gz px4-firmware-d129eff5b980f160f48a31af33ea2e8f074e61dd.tar.bz2 px4-firmware-d129eff5b980f160f48a31af33ea2e8f074e61dd.zip | |
Turned all control outputs into NED frame moments, this is validated in real flight with a correct mixer setup.
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_rate.c')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 4 |
1 files changed, 1 insertions, 3 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 87b6e925c..ba5b593e2 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -196,9 +196,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* roll rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); /* pitch rate (PI) */ - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - /* set pitch minus feedforward throttle compensation (nose pitches up from throttle */ - actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust; + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); /* yaw rate (PI) */ actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); |