diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-21 21:35:13 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-21 21:35:13 +0100 |
| commit | 6fb54ec62c4170fa08d8b882f34f9e1649d1aac8 (patch) | |
| tree | 14d14e1f753bd91b5c3aab1effc9face2be4c74b /apps/fixedwing_att_control | |
| parent | 1f798efd17384aeac6b82db663059d9a6e7e0f02 (diff) | |
| parent | e24c349d1d839dd7499645d17f58e93ba99a5588 (diff) | |
| download | px4-firmware-6fb54ec62c4170fa08d8b882f34f9e1649d1aac8.tar.gz px4-firmware-6fb54ec62c4170fa08d8b882f34f9e1649d1aac8.tar.bz2 px4-firmware-6fb54ec62c4170fa08d8b882f34f9e1649d1aac8.zip | |
manual merge of origin/master into fw_control
Diffstat (limited to 'apps/fixedwing_att_control')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.c | 4 |
1 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 24142dece..98442ed55 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -144,10 +144,10 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att } /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0); + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); /* Pitch (P) */ - float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan; + float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body; rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ |