diff options
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.c')
| -rwxr-xr-x[-rw-r--r--] | apps/multirotor_att_control/multirotor_attitude_control.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 2129915d1..458b86057 100644..100755 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -238,12 +238,12 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff, - att->pitch, att->pitchspeed, deltaT); + att->pitch, att->pitchspeed, deltaT)*1/10.0f; /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff, - att->roll, att->rollspeed, deltaT); + att->roll, att->rollspeed, deltaT)*1/10.0f; /* control yaw rate */ - float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT); + float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; /* * compensate the vertical loss of thrust |