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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-27 19:43:03 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-27 19:43:03 +0200 |
| commit | 17772afdaabd446ba5b7ddccca1f8d4fed433d39 (patch) | |
| tree | 2298e2b35d3471da09533939b6b84dd8dfad085b /apps/fixedwing_att_control | |
| parent | 56f4849e872854e5483bcd1eaf277b9b8bb50a1c (diff) | |
| download | px4-firmware-17772afdaabd446ba5b7ddccca1f8d4fed433d39.tar.gz px4-firmware-17772afdaabd446ba5b7ddccca1f8d4fed433d39.tar.bz2 px4-firmware-17772afdaabd446ba5b7ddccca1f8d4fed433d39.zip | |
fw control: fixed parameter reloading, disabled old fw control app
Diffstat (limited to 'apps/fixedwing_att_control')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.c | 2 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 2 |
2 files changed, 2 insertions, 2 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 9c784e98e..c691c6938 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -121,7 +121,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att } /* load new parameters with lower rate */ - if (counter % 2500 == 0) { + if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); } diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 7c17e70f3..24dce199f 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -170,7 +170,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, } /* load new parameters with lower rate */ - if (counter % 2500 == 0) { + if (counter % 100 == 0) { /* update parameters from storage */ 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); |