diff options
| author | Julian Oes <julian@oes.ch> | 2013-06-15 20:06:30 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-15 20:06:30 +0200 |
| commit | 3230f2244685252a362f3933707407022d8ea759 (patch) | |
| tree | c1455c20f936becea7fc0a2262d206cc6560c055 /src/modules/fixedwing_att_control/fixedwing_att_control_rate.c | |
| parent | 9f5565de3221718ba12800a54ca1a0c06b7491ef (diff) | |
| parent | 8559315f4f8b6515f2ba9ceadf2aa3b73af41bdc (diff) | |
| download | px4-firmware-3230f2244685252a362f3933707407022d8ea759.tar.gz px4-firmware-3230f2244685252a362f3933707407022d8ea759.tar.bz2 px4-firmware-3230f2244685252a362f3933707407022d8ea759.zip | |
Merge branch 'pid_fixes' into new_state_machine
Diffstat (limited to 'src/modules/fixedwing_att_control/fixedwing_att_control_rate.c')
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_rate.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c index 4eccc118c..79194e515 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -179,9 +179,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } @@ -189,9 +189,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, 0); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, 0); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, 0); } |