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| author | Julian Oes <julian@oes.ch> | 2013-06-24 09:49:46 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-24 09:49:46 +0200 |
| commit | 53dec130c49f69f10527ab55d69de46ee26c58f6 (patch) | |
| tree | c1c5f088a748c8f8d5a93607a384260afff18650 /src/modules/multirotor_att_control | |
| parent | a183f3e2733a70408355d71f592927d5e31abc74 (diff) | |
| download | px4-firmware-53dec130c49f69f10527ab55d69de46ee26c58f6.tar.gz px4-firmware-53dec130c49f69f10527ab55d69de46ee26c58f6.tar.bz2 px4-firmware-53dec130c49f69f10527ab55d69de46ee26c58f6.zip | |
Adapted flow estimator, position and velocity control to new state machine
Diffstat (limited to 'src/modules/multirotor_att_control')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 2 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 8 |
2 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 41a9f1df5..4467d2d82 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -331,7 +331,7 @@ mc_thread_main(int argc, char *argv[]) // */ // /* only move setpoint if manual input is != 0 */ - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { + if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.1f) { rates_sp.yaw = manual.yaw; control_yaw_position = false; first_time_after_yaw_speed_control = true; diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 752f292e3..4a1129e1f 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -156,8 +156,8 @@ 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, 0.2f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET); initialized = true; } @@ -168,8 +168,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_update(&h, &p); /* apply parameters */ - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f); + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f); } /* reset integral if on ground */ |