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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-19 18:53:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-19 18:53:29 +0200 |
| commit | 291f4f3a33e6428b23624b1ffe12fec1015816cd (patch) | |
| tree | 0dc7b590081184d46ffa2ad88ba6fbe56a364891 /apps/multirotor_att_control/multirotor_attitude_control.c | |
| parent | b0b72b11eb6c112d3fb58385f5681af55dd5605a (diff) | |
| download | px4-firmware-291f4f3a33e6428b23624b1ffe12fec1015816cd.tar.gz px4-firmware-291f4f3a33e6428b23624b1ffe12fec1015816cd.tar.bz2 px4-firmware-291f4f3a33e6428b23624b1ffe12fec1015816cd.zip | |
Reworked control interface, needs testing / validation
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 997aa0c10..d7413913b 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -243,7 +243,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff, att->roll, att->rollspeed, deltaT); /* control yaw rate */ - float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_rate_body, att->yawspeed, 0.0f, deltaT); + float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT); /* * compensate the vertical loss of thrust |