From 3c14483df247fb842cabdbb02206912f7f4350cf Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 20 Oct 2013 00:35:20 +0200 Subject: fw att ctrl: rename some variables --- src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp') diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 01a114d59..f3909593a 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -136,8 +136,7 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - //xxx: naming of gain variables - _last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 + _last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2 return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } -- cgit v1.2.3