diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 3 |
1 files changed, 1 insertions, 2 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); } |