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| author | Julian Oes <julian@oes.ch> | 2013-08-15 14:04:46 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-08-15 14:04:46 +0200 |
| commit | 56575eb068879beb68b3730ca6d3bb3755d6960a (patch) | |
| tree | 1b7b4c028c2b936db81310e82a8ef84adc125e3d /src/modules/fixedwing_att_control/fixedwing_att_control_rate.c | |
| parent | 50cf1c01b701fced6437dfe574fd09cd312b9f15 (diff) | |
| parent | 561ec495b7df5b3ff4536d16d1389d1f02affd06 (diff) | |
| download | px4-firmware-56575eb068879beb68b3730ca6d3bb3755d6960a.tar.gz px4-firmware-56575eb068879beb68b3730ca6d3bb3755d6960a.tar.bz2 px4-firmware-56575eb068879beb68b3730ca6d3bb3755d6960a.zip | |
Merge remote-tracking branch 'px4/new_state_machine_drton' into fmuv2_bringup_new_state_machine_drton
Conflicts:
src/drivers/blinkm/blinkm.cpp
src/drivers/px4io/px4io.cpp
src/modules/commander/state_machine_helper.c
src/modules/px4iofirmware/protocol.h
src/modules/px4iofirmware/registers.c
src/modules/systemlib/systemlib.h
src/systemcmds/reboot/reboot.c
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 | 6 |
1 files changed, 3 insertions, 3 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 cdab39edc..66854592a 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -196,11 +196,11 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* roll rate (PI) */ - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT, NULL, NULL, NULL); /* pitch rate (PI) */ - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT, NULL, NULL, NULL); /* yaw rate (PI) */ - actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); + actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT, NULL, NULL, NULL); counter++; |