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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_pos_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_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"); |