diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_attitude_control.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 1053ac7a3..d7e1a3adc 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -155,8 +155,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_init(&h); parameters_update(&h, &p); - pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET); initialized = true; } @@ -167,8 +167,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_update(&h, &p); /* apply parameters */ - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f); } /* reset integral if on ground */ |