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author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 19:25:37 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 19:25:37 +0400 |
commit | 5cb1f4662fb28f68e539f2c8930c0f48ccea3521 (patch) | |
tree | 1a4fbf5d3022a8981b97e1d7102574705b841135 /src/modules/multirotor_att_control/multirotor_attitude_control.c | |
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/multirotor_att_control/multirotor_attitude_control.c')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 10 |
1 files changed, 2 insertions, 8 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 76dbb36d3..5c74f1e77 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -163,16 +163,12 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s static uint64_t last_run = 0; static uint64_t last_input = 0; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; last_run = hrt_absolute_time(); if (last_input != att_sp->timestamp) { last_input = att_sp->timestamp; } - static int sensor_delay; - sensor_delay = hrt_absolute_time() - att->timestamp; - static int motor_skip_counter = 0; static PID_t pitch_controller; @@ -190,10 +186,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_init(&h); parameters_update(&h, &p); - pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, - 1000.0f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, - 1000.0f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f); initialized = true; } |