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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-19 14:14:44 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 17:47:22 +0200 |
| commit | 8f74aab468d565101eaa1e0f104b0297343fe2ed (patch) | |
| tree | c0b376656cd1e147c0572db3def03429f0b10703 /src/lib/ecl/attitude_fw/ecl_yaw_controller.h | |
| parent | b9ef3636f5210588d0aa219a163d3ef5edd6a204 (diff) | |
| download | px4-firmware-8f74aab468d565101eaa1e0f104b0297343fe2ed.tar.gz px4-firmware-8f74aab468d565101eaa1e0f104b0297343fe2ed.tar.bz2 px4-firmware-8f74aab468d565101eaa1e0f104b0297343fe2ed.zip | |
fw att control: bugfixes for integrator
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.h')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index d5aaa617f..0250fcb35 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -85,6 +85,9 @@ public: void set_k_roll_ff(float roll_ff) { _roll_ff = roll_ff; } + void set_coordinated(float coordinated) { + _coordinated = coordinated; + } float get_rate_error() { @@ -115,6 +118,7 @@ private: float _rate_setpoint; float _bodyrate_setpoint; float _max_deflection_rad; + float _coordinated; }; |