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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-25 13:55:28 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-25 13:55:28 +0100 |
| commit | faa672f8bb257ec0ee357ad55da3195b79aeb54b (patch) | |
| tree | d20ffd7f403aab274652b016af49554128a472d1 /apps/fixedwing_att_control/fixedwing_att_control_rate.c | |
| parent | dc72d467d4abe3d18bbf02091eb4eaddb4f491d2 (diff) | |
| download | px4-firmware-faa672f8bb257ec0ee357ad55da3195b79aeb54b.tar.gz px4-firmware-faa672f8bb257ec0ee357ad55da3195b79aeb54b.tar.bz2 px4-firmware-faa672f8bb257ec0ee357ad55da3195b79aeb54b.zip | |
mode switching for all platforms, additional fixed wing modes
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_rate.c')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 8 |
1 files changed, 5 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 b81d50168..f46761922 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,8 @@ /** * @file fixedwing_att_control_rate.c * Implementation of a fixed wing attitude controller. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ #include <fixedwing_att_control_rate.h> @@ -171,8 +173,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... - actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now + actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); + actuators->control[2] = 0.0f;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now counter++; |