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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-24 18:20:04 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-24 18:20:04 +0400 |
| commit | 8dd5130d998f7609c8a5d457093e31320b3668fd (patch) | |
| tree | 54b1e1b78ec3f6c4d0bfd1e40ed7b75f2f47bbab /src/modules/multirotor_pos_control | |
| parent | 57837eb0b949d07941c7c70dd9e574851eb87a66 (diff) | |
| download | px4-firmware-8dd5130d998f7609c8a5d457093e31320b3668fd.tar.gz px4-firmware-8dd5130d998f7609c8a5d457093e31320b3668fd.tar.bz2 px4-firmware-8dd5130d998f7609c8a5d457093e31320b3668fd.zip | |
position_estimator_inav, multirotor_pos_control: bugs fixed
Diffstat (limited to 'src/modules/multirotor_pos_control')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 6252178d1..10f21c55d 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -259,7 +259,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) for (int i = 0; i < 2; i++) { pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f); - pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max); + // TODO 1000.0 is hotfix + pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1000.0f, params.tilt_max); } pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max); |