diff options
Diffstat (limited to 'apps/multirotor_att_control')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 2129915d1..cb34209b1 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -212,13 +212,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_update(&h, &p); // pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu, - // PID_MODE_DERIVATIV_SET, 154); + // 90.0f, PID_MODE_DERIVATIV_SET, 154); // Arbitrarily large limit added pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu, - PID_MODE_DERIVATIV_SET); + 90.0f, PID_MODE_DERIVATIV_SET); // Arbitrarily large limit added pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - PID_MODE_DERIVATIV_SET); + 90.0f, PID_MODE_DERIVATIV_SET); // Arbitrarily large limit added pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - PID_MODE_DERIVATIV_SET); + 90.0f, PID_MODE_DERIVATIV_SET); // Arbitrarily large limit added initialized = true; } @@ -228,10 +228,10 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* update parameters from storage */ parameters_update(&h, &p); /* apply parameters */ - // pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu); - pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu); - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu); + // pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu, 90.0f); + pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu, 90.0f); + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, 90.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, 90.0f); } /* calculate current control outputs */ |