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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-20 00:35:20 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 18:07:46 +0200 |
| commit | 3c14483df247fb842cabdbb02206912f7f4350cf (patch) | |
| tree | d8a733a7fa5b2b1bf5b559a2bf4669c3f2f055ea /src/lib/ecl/attitude_fw | |
| parent | feb75f08cba0d18267f9d463db49f7c1db310596 (diff) | |
| download | px4-firmware-3c14483df247fb842cabdbb02206912f7f4350cf.tar.gz px4-firmware-3c14483df247fb842cabdbb02206912f7f4350cf.tar.bz2 px4-firmware-3c14483df247fb842cabdbb02206912f7f4350cf.zip | |
fw att ctrl: rename some variables
Diffstat (limited to 'src/lib/ecl/attitude_fw')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 3 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 3 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 3 |
3 files changed, 3 insertions, 6 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index 5b8897eaa..8b9ba9c62 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -163,8 +163,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - //xxx: naming of gain variables (k_d <--> k_p) - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 01a114d59..f3909593a 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -136,8 +136,7 @@ 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 */ - //xxx: naming of gain variables - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 5c9cc820f..84d9ebd88 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -150,8 +150,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - //xxx: naming of gain variables (k_d <--> k_p) - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } |