diff options
| -rw-r--r-- | apps/multirotor_pos_control/multirotor_pos_control.c | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c index 474ced731..9821fc7e5 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control.c +++ b/apps/multirotor_pos_control/multirotor_pos_control.c @@ -196,12 +196,14 @@ multirotor_pos_control_thread_main(int argc, char *argv[]) float x_setpoint = 0.0f; + // XXX enable switching between Vicon and local position estimate /* local pos is the Vicon position */ - att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p * dT; + // XXX just an example, lacks rotation around world-body transformation + att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p; att_sp.roll_body = 0.0f; att_sp.yaw_body = 0.0f; - att_sp.thrust = 0.4f; + att_sp.thrust = 0.3f; att_sp.timestamp = hrt_absolute_time(); /* publish new attitude setpoint */ |