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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-22 15:05:22 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-22 15:07:49 +0100 |
| commit | 30cf4097c50fed228f14c80e2ea8876104872503 (patch) | |
| tree | 7fd481e51f1171ea3bf987876296d9baa9dca581 /src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | |
| parent | 480d31f7548d2a4dc7ad55dc2de1f9733045bbd3 (diff) | |
| download | px4-firmware-30cf4097c50fed228f14c80e2ea8876104872503.tar.gz px4-firmware-30cf4097c50fed228f14c80e2ea8876104872503.tar.bz2 px4-firmware-30cf4097c50fed228f14c80e2ea8876104872503.zip | |
fw: remove duplicate feedforward
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 9e7d35f68..2e86c72dc 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -141,7 +141,7 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed return math::constrain(_last_output, -1.0f, 1.0f); } |