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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-20 20:10:31 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 18:14:54 +0200 |
commit | a5046fdfa02999f153502168682ade9bd5c15842 (patch) | |
tree | 6c71a9523eff9de5d33bd97e709e013d1c6a9732 /src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | |
parent | 19ae09dbad3fb5d2cfa73cf8476cab654e53581f (diff) | |
download | px4-firmware-a5046fdfa02999f153502168682ade9bd5c15842.tar.gz px4-firmware-a5046fdfa02999f153502168682ade9bd5c15842.tar.bz2 px4-firmware-a5046fdfa02999f153502168682ade9bd5c15842.zip |
fix wrong operation in yaw controller
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp')
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index 531512493..626812288 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -45,6 +45,7 @@ #include <geo/geo.h> #include <ecl/ecl.h> #include <mathlib/mathlib.h> +#include <systemlib/err.h> ECL_PitchController::ECL_PitchController() : _last_run(0), @@ -163,7 +164,8 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, /* Apply PI rate controller and store non-limited output */ _last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed - +// warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p); +// warnx("roll: _last_output %.4f", (double)_last_output); return math::constrain(_last_output, -1.0f, 1.0f); } |