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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-02 16:40:26 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-02 16:40:26 +0200 |
| commit | e9290e7fc0f05f186f60c2af4beae35b75236e37 (patch) | |
| tree | 1625c377efa434034f8924570000bb51349cf919 /src/modules/fixedwing_att_control | |
| parent | 4edb6ce76bf7f360bfefacf7e83045c92f070e40 (diff) | |
| parent | 697c0a1a1d7fb1043786533da3570f28acd661dc (diff) | |
| download | px4-firmware-e9290e7fc0f05f186f60c2af4beae35b75236e37.tar.gz px4-firmware-e9290e7fc0f05f186f60c2af4beae35b75236e37.tar.bz2 px4-firmware-e9290e7fc0f05f186f60c2af4beae35b75236e37.zip | |
Merge branch 'master' of github.com:PX4/Firmware into origin_integration
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; } |