diff options
Diffstat (limited to 'src/modules/fixedwing_att_control')
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_att.c | 8 | ||||
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_rate.c | 12 |
2 files changed, 10 insertions, 10 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c index 769b8b0a8..a226757e0 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -128,8 +128,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, 0, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, 0, PID_MODE_DERIVATIV_NONE); //P Controller initialized = true; } @@ -137,8 +137,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); - pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, 0); + pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, 0); } /* Roll (P) */ diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c index 4eccc118c..79194e515 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -179,9 +179,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } @@ -189,9 +189,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, 0); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, 0); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, 0); } |