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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-30 11:16:01 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-30 11:16:01 +0100 |
| commit | 4db0ec03ce7c599621915a92b3ad0d2e8fa17b71 (patch) | |
| tree | f70b8b30aaeeaed79a2faabe5ba7e8a458b533d1 /apps/multirotor_att_control/multirotor_attitude_control.c | |
| parent | 01932a2dc35c0dc4c6a45e9eb4b46660e7e4136a (diff) | |
| download | px4-firmware-4db0ec03ce7c599621915a92b3ad0d2e8fa17b71.tar.gz px4-firmware-4db0ec03ce7c599621915a92b3ad0d2e8fa17b71.tar.bz2 px4-firmware-4db0ec03ce7c599621915a92b3ad0d2e8fa17b71.zip | |
Better yaw position control, but not quite there yet
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 eb94cca8a..1258c739e 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -217,7 +217,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s att->roll, att->rollspeed, deltaT); /* control yaw rate */ - rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)); + rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed); rates_sp->thrust = att_sp->thrust; |