diff options
| author | sjwilks <sjwilks@gmail.com> | 2013-07-02 01:19:14 -0700 |
|---|---|---|
| committer | sjwilks <sjwilks@gmail.com> | 2013-07-02 01:19:14 -0700 |
| commit | 697c0a1a1d7fb1043786533da3570f28acd661dc (patch) | |
| tree | 302af77d5f9122104b93a8cd8782d6637cf7b79c /src/modules/fixedwing_pos_control | |
| parent | bff6eae3a2ac414b09d94fa4497c25d301a447a9 (diff) | |
| parent | 72694825de93e0998d39f1296bc830c3ec23933d (diff) | |
| download | px4-firmware-697c0a1a1d7fb1043786533da3570f28acd661dc.tar.gz px4-firmware-697c0a1a1d7fb1043786533da3570f28acd661dc.tar.bz2 px4-firmware-697c0a1a1d7fb1043786533da3570f28acd661dc.zip | |
Merge pull request #314 from DrTon/att_control_der_fix
Multirotor attitude controller updated
Diffstat (limited to 'src/modules/fixedwing_pos_control')
| -rw-r--r-- | src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c index 71c78f5b8..6059d9a44 100644 --- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -239,10 +239,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) parameters_init(&h); parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value + pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE, 0.0f); //arbitrary high limit + pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE, 0.0f); + pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE, 0.0f); + pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE, 0.0f); //TODO: remove hardcoded value /* error and performance monitoring */ perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); |