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| author | Julian Oes <joes@student.ethz.ch> | 2013-03-13 18:00:00 -0700 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-16 15:22:20 +0200 |
| commit | c189ac1c85a272142f925339879f22563c092725 (patch) | |
| tree | 789c50978ea3f46b5e3afefa7cb540b3daaa7118 /src/modules/multirotor_att_control | |
| parent | 303694f5f7b7a03488c6075ff2bd67014badfacb (diff) | |
| download | px4-firmware-c189ac1c85a272142f925339879f22563c092725.tar.gz px4-firmware-c189ac1c85a272142f925339879f22563c092725.tar.bz2 px4-firmware-c189ac1c85a272142f925339879f22563c092725.zip | |
Added possibility to log pid control values
Conflicts:
apps/multirotor_pos_control/multirotor_pos_control.c
src/drivers/ardrone_interface/ardrone_interface.c
Diffstat (limited to 'src/modules/multirotor_att_control')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 4 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 4 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 4c8f72b8d..51faaa8c0 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -182,11 +182,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control pitch (forward) output */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , - att->pitch, att->pitchspeed, deltaT); + att->pitch, att->pitchspeed, deltaT, NULL, NULL, NULL); /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , - att->roll, att->rollspeed, deltaT); + att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 57aea726a..322c5485a 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -197,11 +197,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], 0.0f, deltaT); + rates[1], 0.0f, deltaT, NULL, NULL, NULL); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], 0.0f, deltaT); + rates[0], 0.0f, deltaT, NULL, NULL, NULL); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { |