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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
| commit | 5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe (patch) | |
| tree | 5f024477d370d92edacead7412f60f6757cbf082 /src/modules/multirotor_att_control/multirotor_rate_control.c | |
| parent | e44d134c6c64535f67e26f9633206aba50a10613 (diff) | |
| parent | 66c61fbe96e11ee7099431a8370d84f862543810 (diff) | |
| download | px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.gz px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.bz2 px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.zip | |
Merged multirotor branch
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e58d357d5..0a336be47 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -152,7 +152,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) + const float rates[], struct actuator_controls_s *actuators, bool reset_integral) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -193,10 +193,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f); } - /* reset integral if on ground */ - if (rate_sp->thrust < 0.01f) { + /* reset integrals if needed */ + if (reset_integral) { pid_reset_integral(&pitch_rate_controller); pid_reset_integral(&roll_rate_controller); + // TODO pid_reset_integral(&yaw_rate_controller); } /* control pitch (forward) output */ |