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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 19:25:37 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 19:25:37 +0400 |
| commit | 5cb1f4662fb28f68e539f2c8930c0f48ccea3521 (patch) | |
| tree | 1a4fbf5d3022a8981b97e1d7102574705b841135 /src/modules/fixedwing_att_control | |
| parent | 85b5da8078873a13a5fc0fd4ee3fe0a02917e87c (diff) | |
| download | px4-firmware-5cb1f4662fb28f68e539f2c8930c0f48ccea3521.tar.gz px4-firmware-5cb1f4662fb28f68e539f2c8930c0f48ccea3521.tar.bz2 px4-firmware-5cb1f4662fb28f68e539f2c8930c0f48ccea3521.zip | |
multirotor_attitude_control performance improved, tested in flight. PID library new functionality and bugfixes.
Diffstat (limited to 'src/modules/fixedwing_att_control')
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_att.c | 4 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_rate.c | 6 |
2 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c index 769b8b0a8..2aeca3a98 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -128,8 +128,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller + pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller initialized = true; } 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..cdab39edc 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, PID_MODE_DERIVATIV_NONE, 0.0f); // 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, 0.0f); // 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, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } |