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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-22 20:55:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-22 20:55:44 +0200 |
| commit | 8b951ec417454353d61d19b3379e52b6da5dd6b6 (patch) | |
| tree | 954ecb29a7184ab7f306ec2cccc6f857fd7f58dd /apps/multirotor_att_control/multirotor_rate_control.c | |
| parent | a9b21886f32d0a8ef7cad8dfe7efbc3276f4fd58 (diff) | |
| download | px4-firmware-8b951ec417454353d61d19b3379e52b6da5dd6b6.tar.gz px4-firmware-8b951ec417454353d61d19b3379e52b6da5dd6b6.tar.bz2 px4-firmware-8b951ec417454353d61d19b3379e52b6da5dd6b6.zip | |
WIP on HIL
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 fefd1f767..b4eb3469b 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -157,11 +157,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); pid_init(&yaw_speed_controller, p.yawrate_p, 0, p.yawrate_i, p.yawrate_awu, - PID_MODE_DERIVATIV_SET, 155); + PID_MODE_DERIVATIV_SET); pid_init(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, - PID_MODE_DERIVATIV_SET, 156); + PID_MODE_DERIVATIV_SET); pid_init(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, - PID_MODE_DERIVATIV_SET, 157); + PID_MODE_DERIVATIV_SET); initialized = true; } |