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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-20 15:19:22 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-20 15:19:51 +0100 |
| commit | 6ff4520904daef1fa441fd467f048c42d286f2ac (patch) | |
| tree | cc2f3f58bab0627354801f973da0690a2d8f81cc /apps/fixedwing_att_control | |
| parent | 129e6d73debca5653911867e9db54990c02591bb (diff) | |
| download | px4-firmware-6ff4520904daef1fa441fd467f048c42d286f2ac.tar.gz px4-firmware-6ff4520904daef1fa441fd467f048c42d286f2ac.tar.bz2 px4-firmware-6ff4520904daef1fa441fd467f048c42d286f2ac.zip | |
Cleaned up PI wrapping code, still subject to testing
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 18b290f99..334b95226 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -143,10 +143,10 @@ 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) */ |