From 89b8acd7a8dd82a7adbd38fb7fea4b422dea64e6 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 3 Nov 2013 22:04:32 +0100 Subject: fix initialization of attitude controllers --- src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp') diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 0de0eb439..013bc191a 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -48,16 +48,19 @@ ECL_YawController::ECL_YawController() : _last_run(0), - _tc(0.1f), + _k_p(0.0f), + _k_i(0.0f), + _k_d(0.0f), + _integrator_max(0.0f), + _max_rate(0.0f), + _roll_ff(0.0f), _last_output(0.0f), _integrator(0.0f), _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - _coordinated(1.0f) - + _coordinated(0.0f) { - } float ECL_YawController::control_attitude(float roll, float pitch, -- cgit v1.2.3