brought controller back to last tuned state

1 files changed, 9 insertions, 6 deletions

diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index db3f1a0a6..7401ef0f6 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -52,6 +52,7 @@
 #include <math.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/param/param.h>
+#include <systemlib/err.h>
 #include <arch/board/up_hrt.h>
 
 PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
@@ -180,34 +181,36 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (motor_skip_counter % 2500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		printf("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n",
+		warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n",
 			(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
 	}
 
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-	float pitch_control = p.attrate_p * deltaT *((rate_sp->pitch)*p.attrate_lim-rates[1])-p.attrate_d*(pitch_control_last);
+	// XXX fix this line so that deltaT is also applied to the D term
+	float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
 	/* increase resilience to faulty control inputs */
 	if (isfinite(pitch_control)) {
 		pitch_control_last = pitch_control;
 	} else {
 		pitch_control = 0.0f;
-		printf("rej. NaN ctrl pitch\n");
+		warnx("rej. NaN ctrl pitch\n");
 	}
 
 	/* control roll (left/right) output */
-	float roll_control = p.attrate_p * deltaT * ((rate_sp->roll)*p.attrate_lim-rates[0])-p.attrate_d*(roll_control_last);
+	// XXX fix this line so that deltaT is also applied to the D term
+	float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
 	/* increase resilience to faulty control inputs */
 	if (isfinite(roll_control)) {
 		roll_control_last = roll_control;
 	} else {
 		roll_control = 0.0f;
-		printf("rej. NaN ctrl roll\n");
+		warnx("rej. NaN ctrl roll\n");
 	}
 
 	/* control yaw rate */
-	float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.yawrate_lim-rates[2]);
+	float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)-rates[2]);
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;