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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-08 18:10:03 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-08 18:10:03 +0100 |
| commit | 35fae44527de3b92290c535f9c44fb5495f6322f (patch) | |
| tree | bc93eb55d38c3f7c8527a0d0596524b9af52bd85 /apps/multirotor_att_control/multirotor_rate_control.c | |
| parent | 1da7fc2549a9ef18c81de8cd39b5743a8a28eb0b (diff) | |
| download | px4-firmware-35fae44527de3b92290c535f9c44fb5495f6322f.tar.gz px4-firmware-35fae44527de3b92290c535f9c44fb5495f6322f.tar.bz2 px4-firmware-35fae44527de3b92290c535f9c44fb5495f6322f.zip | |
Nulling controller parameters for additional safety
Diffstat (limited to 'apps/multirotor_att_control/multirotor_rate_control.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_rate_control.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index d5e20312b..bbaec3033 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -55,14 +55,14 @@ #include <systemlib/err.h> #include <drivers/drv_hrt.h> -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */ -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ |