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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-23 08:54:08 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-23 08:54:08 +0200 |
| commit | 81acd98997ff3d605c8c797f04e81e64db180a57 (patch) | |
| tree | c263291c559b5c15ebf20ee0cbc0ca4fb3177830 /src/examples | |
| parent | c6b6b7ffcdd037965f13d82628cdad53072fcb23 (diff) | |
| download | px4-firmware-81acd98997ff3d605c8c797f04e81e64db180a57.tar.gz px4-firmware-81acd98997ff3d605c8c797f04e81e64db180a57.tar.bz2 px4-firmware-81acd98997ff3d605c8c797f04e81e64db180a57.zip | |
Added limit to heading command
Diffstat (limited to 'src/examples')
| -rw-r--r-- | src/examples/fixedwing_control/main.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index 1753070e2..6a9ad9e1d 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -154,7 +154,14 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v /* calculate heading error */ float yaw_err = att->yaw - bearing; /* apply control gain */ - att_sp->roll_body = yaw_err * p.hdng_p; + float roll_command = yaw_err * p.hdng_p; + + /* limit output, this commonly is a tuning parameter, too */ + if (att_sp->roll_body < -0.5f) { + att_sp->roll_body = -0.5f; + } else if (att_sp->roll_body > 0.5f) { + att_sp->roll_body = 0.5f; + } } /* Main Thread */ |