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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-25 23:19:27 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-25 23:19:27 +0400 |
| commit | 310de1df963143da40ff6551d5823d40df282af4 (patch) | |
| tree | 9e11e29ec60d3e37145a316c4a6777246c22b184 /src/modules/multirotor_pos_control/multirotor_pos_control.c | |
| parent | f1fece2bb6fe4d40128f3f17b92c073d50cce982 (diff) | |
| download | px4-firmware-310de1df963143da40ff6551d5823d40df282af4.tar.gz px4-firmware-310de1df963143da40ff6551d5823d40df282af4.tar.bz2 px4-firmware-310de1df963143da40ff6551d5823d40df282af4.zip | |
pid lib update
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 3d23d0c09..c0e1eb523 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -246,11 +246,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) for (int i = 0; i < 2; i++) { - pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f); - pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); + pid_init(&(xy_pos_pids[i]), PID_MODE_DERIVATIV_SET, 0.02f); + pid_init(&(xy_vel_pids[i]), PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); } - pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f); + pid_init(&z_pos_pid, PID_MODE_DERIVATIV_SET, 0.02f); thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); while (!thread_should_exit) { |