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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-30 00:04:54 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-30 00:04:54 +0100 |
| commit | 0298714db53c44a28ab19d5ba01d70de28dd39b3 (patch) | |
| tree | 1733a67f898a6c98c7bc52574ed814afa97fcf26 /apps/multirotor_att_control/multirotor_attitude_control.c | |
| parent | 4976a3a47d9ed368734135df04ad67634c39c65d (diff) | |
| parent | b240e31c1c25c07ffe046a3433d43fa8b862c136 (diff) | |
| download | px4-firmware-0298714db53c44a28ab19d5ba01d70de28dd39b3.tar.gz px4-firmware-0298714db53c44a28ab19d5ba01d70de28dd39b3.tar.bz2 px4-firmware-0298714db53c44a28ab19d5ba01d70de28dd39b3.zip | |
Merge branch 'fixedwing_outdoor' of github.com:PX4/Firmware into fixedwing_outdoor
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index e94d7c55d..b98736cee 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -197,7 +197,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s } /* load new parameters with lower rate */ - if (motor_skip_counter % 1000 == 0) { + if (motor_skip_counter % 500 == 0) { /* update parameters from storage */ parameters_update(&h, &p); @@ -206,6 +206,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } + /* reset integral if on ground */ + if(att_sp->thrust < 0.1f) { + pid_reset_integral(&pitch_controller); + pid_reset_integral(&roll_controller); + } + + /* calculate current control outputs */ /* control pitch (forward) output */ |