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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-03 22:04:32 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-03 22:04:32 +0100 |
| commit | 89b8acd7a8dd82a7adbd38fb7fea4b422dea64e6 (patch) | |
| tree | 7afacaa1ba2035a182c124e62cfd9ad2e310331a /src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | |
| parent | 4db049144ff66cdabf9c8cba08cb8200e6a614b5 (diff) | |
| download | px4-firmware-89b8acd7a8dd82a7adbd38fb7fea4b422dea64e6.tar.gz px4-firmware-89b8acd7a8dd82a7adbd38fb7fea4b422dea64e6.tar.bz2 px4-firmware-89b8acd7a8dd82a7adbd38fb7fea4b422dea64e6.zip | |
fix initialization of attitude controllers
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 0de0eb439..013bc191a 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -48,16 +48,19 @@ ECL_YawController::ECL_YawController() : _last_run(0), - _tc(0.1f), + _k_p(0.0f), + _k_i(0.0f), + _k_d(0.0f), + _integrator_max(0.0f), + _max_rate(0.0f), + _roll_ff(0.0f), _last_output(0.0f), _integrator(0.0f), _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - _coordinated(1.0f) - + _coordinated(0.0f) { - } float ECL_YawController::control_attitude(float roll, float pitch, |