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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-19 13:11:15 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-19 13:11:15 +0100 |
commit | 18b28f0efd0fa308644eb69bc9c90f7378435542 (patch) | |
tree | b6a9594ff10057daf43914a49438c4bd056e2281 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
parent | 302632e7c45d455072dd89c6ecdf1637d1cf1977 (diff) | |
download | px4-firmware-18b28f0efd0fa308644eb69bc9c90f7378435542.tar.gz px4-firmware-18b28f0efd0fa308644eb69bc9c90f7378435542.tar.bz2 px4-firmware-18b28f0efd0fa308644eb69bc9c90f7378435542.zip |
Copyright and comments fixes
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 28c8861b6..eb4d1f75e 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <anton.babushkin@me.com> + * Author: @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 @@ -34,8 +34,12 @@ /** * @file mc_pos_control_main.cpp + * Multicopter position controller. * - * Multirotor position controller. + * The controller has two loops: P loop for position error and PID loop for velocity error. + * Output of velocity controller is thrust vector that splitted to thrust direction + * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself). + * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging. */ #include <nuttx/config.h> |