diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index ee457c120..b23166a5e 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,9 +32,13 @@ ****************************************************************************/ /** - * @file mc_att_control_main.c + * @file mc_att_control_main.cpp * Multicopter attitude controller. * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw, @@ -825,7 +826,7 @@ MulticopterAttitudeControl::start() _control_task = task_spawn_cmd("mc_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterAttitudeControl::task_main_trampoline, nullptr); |