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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-14 10:42:46 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-14 10:42:46 +0100 |
| commit | c2abe3997c730c183a7a5a094cadf1575951f86c (patch) | |
| tree | f6d7b613fe47b4abc90924b0f764e71b647bc80a /apps/multirotor_att_control/multirotor_attitude_control.c | |
| parent | d9d002f3aa1e25637538e713189fce565e4c8901 (diff) | |
| download | px4-firmware-c2abe3997c730c183a7a5a094cadf1575951f86c.tar.gz px4-firmware-c2abe3997c730c183a7a5a094cadf1575951f86c.tar.bz2 px4-firmware-c2abe3997c730c183a7a5a094cadf1575951f86c.zip | |
Minor cleanups in attitude control
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 839d56d29..8ffa90238 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -199,9 +199,9 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* update parameters from storage */ parameters_update(&h, &p); - /* apply parameters */ - printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); + //printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); + /* apply parameters */ pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } |