diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 2f8129e82..b28ecdabe 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -37,10 +37,12 @@ * */ +#include "../ecl.h" #include "ecl_roll_controller.h" ECL_RollController::ECL_RollController() : _last_run(0), + _tc(0.1f), _last_output(0.0f), _integrator(0.0f), _rate_error(0.0f), @@ -52,6 +54,15 @@ ECL_RollController::ECL_RollController() : float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate, float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed) { + /* get the usual dt estimate */ + uint64_t dt_micros = ecl_elapsed_time(&_last_run); + _last_run = ecl_absolute_time(); + + float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000; + + + + return 0.0f; } |