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authorsjwilks <sjwilks@gmail.com>2013-07-02 01:19:14 -0700
committersjwilks <sjwilks@gmail.com>2013-07-02 01:19:14 -0700
commit697c0a1a1d7fb1043786533da3570f28acd661dc (patch)
tree302af77d5f9122104b93a8cd8782d6637cf7b79c /src/modules/fixedwing_att_control
parentbff6eae3a2ac414b09d94fa4497c25d301a447a9 (diff)
parent72694825de93e0998d39f1296bc830c3ec23933d (diff)
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Merge pull request #314 from DrTon/att_control_der_fix
Multirotor attitude controller updated
Diffstat (limited to 'src/modules/fixedwing_att_control')
-rw-r--r--src/modules/fixedwing_att_control/fixedwing_att_control_att.c4
-rw-r--r--src/modules/fixedwing_att_control/fixedwing_att_control_rate.c6
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;
}