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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-21 22:42:45 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-21 22:42:45 +0400 |
| commit | 98a4345410e91a1e3966b3364f487652af210d03 (patch) | |
| tree | 84fdf473dd1b5c8ed0fecdcebf3a2622ac05a0ea /src/modules/multirotor_pos_control/thrust_pid.h | |
| parent | 1dac58571eadf528e949c4e170de1edf61be2982 (diff) | |
| download | px4-firmware-98a4345410e91a1e3966b3364f487652af210d03.tar.gz px4-firmware-98a4345410e91a1e3966b3364f487652af210d03.tar.bz2 px4-firmware-98a4345410e91a1e3966b3364f487652af210d03.zip | |
multirotor_pos_control: some refactoring and cleanup, attitude-thrust correction moved to thrust_pid
Diffstat (limited to 'src/modules/multirotor_pos_control/thrust_pid.h')
| -rw-r--r-- | src/modules/multirotor_pos_control/thrust_pid.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/multirotor_pos_control/thrust_pid.h b/src/modules/multirotor_pos_control/thrust_pid.h index 65ee33c51..551c032fe 100644 --- a/src/modules/multirotor_pos_control/thrust_pid.h +++ b/src/modules/multirotor_pos_control/thrust_pid.h @@ -68,7 +68,7 @@ typedef struct { __EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min); __EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max); -__EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt); +__EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22); __END_DECLS |