diff options
4 files changed, 4 insertions, 7 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index 5b8897eaa..8b9ba9c62 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -163,8 +163,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - //xxx: naming of gain variables (k_d <--> k_p) - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 01a114d59..f3909593a 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -136,8 +136,7 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - //xxx: naming of gain variables - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 5c9cc820f..84d9ebd88 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -150,8 +150,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - //xxx: naming of gain variables (k_d <--> k_p) - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index efe40b1ef..d61d3dd4f 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -44,7 +44,7 @@ #include <systemlib/param/param.h> -//XXX resolve unclear naming of paramters: FW_P_D --> FW_PR_P +//XXX resolve unclear naming of paramters: FW_P_P --> FW_PR_P /* * Controller parameters, accessible via MAVLink |