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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 10:23:14 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 10:23:14 +0200 |
| commit | 7ef3c2463721aa1382a686fb23f7451c7d47abb8 (patch) | |
| tree | 697e1fbd2759e59f2a6f2f05a555893dde3e245e /src/modules/mc_att_control | |
| parent | 8e43db7bc0c1d1f7525401c3df9e0227781ab454 (diff) | |
| parent | 91b67d3f4aff0686638828ed2629793cc04b8be4 (diff) | |
| download | px4-firmware-7ef3c2463721aa1382a686fb23f7451c7d47abb8.tar.gz px4-firmware-7ef3c2463721aa1382a686fb23f7451c7d47abb8.tar.bz2 px4-firmware-7ef3c2463721aa1382a686fb23f7451c7d47abb8.zip | |
Merge branch 'master' into yaw_offset_limit
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 11 | ||||
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 7 |
2 files changed, 10 insertions, 8 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index ee457c120..b23166a5e 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,9 +32,13 @@ ****************************************************************************/ /** - * @file mc_att_control_main.c + * @file mc_att_control_main.cpp * Multicopter attitude controller. * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw, @@ -825,7 +826,7 @@ MulticopterAttitudeControl::start() _control_task = task_spawn_cmd("mc_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterAttitudeControl::task_main_trampoline, nullptr); diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 19134c7b4..ad38a0a03 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file mc_att_control_params.c * Parameters for multicopter attitude controller. + * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <systemlib/param/param.h> |