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 | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 51faaa8c0..6da808da4 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -123,7 +123,8 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc } void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, + const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) { static uint64_t last_run = 0; static uint64_t last_input = 0; @@ -182,11 +183,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control pitch (forward) output */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , - att->pitch, att->pitchspeed, deltaT, NULL, NULL, NULL); + att->pitch, att->pitchspeed, deltaT, &control_debug->roll_p, &control_debug->roll_i, &control_debug->roll_d); /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , - att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); + att->roll, att->rollspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d); // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); |