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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 11:14:22 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 11:14:22 +0200 |
| commit | d0c59ffe54dfffdef750684f5d8de09b83135862 (patch) | |
| tree | dd47adb62576ca639823753fd7ffc4638421b709 /src/lib/ecl/attitude_fw/ecl_roll_controller.h | |
| parent | 0104f070c6f469df6acdb308ae54638e017813c0 (diff) | |
| download | px4-firmware-d0c59ffe54dfffdef750684f5d8de09b83135862.tar.gz px4-firmware-d0c59ffe54dfffdef750684f5d8de09b83135862.tar.bz2 px4-firmware-d0c59ffe54dfffdef750684f5d8de09b83135862.zip | |
First stab at actual controller
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.h')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.h | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index d2b796131..bba9ae163 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -54,7 +54,9 @@ public: void reset_integrator(); void set_time_constant(float time_constant) { - _tc = time_constant; + if (time_constant > 0.1f && time_constant < 3.0f) { + _tc = time_constant; + } } void set_k_p(float k_p) { _k_p = k_p; |