From 310de1df963143da40ff6551d5823d40df282af4 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 25 Nov 2013 23:19:27 +0400 Subject: pid lib update --- src/modules/multirotor_att_control/multirotor_attitude_control.c | 4 ++-- src/modules/multirotor_att_control/multirotor_rate_control.c | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 8245aa560..b7df0433a 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -194,8 +194,8 @@ 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, 0.0f); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f); + pid_init(&pitch_controller, PID_MODE_DERIVATIV_SET, 0.0f); + pid_init(&roll_controller, PID_MODE_DERIVATIV_SET, 0.0f); initialized = true; } diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 86ac0e4ff..eb41bf93e 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -161,9 +161,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); initialized = true; - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); + pid_init(&pitch_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); + pid_init(&roll_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); + pid_init(&yaw_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); } /* load new parameters with lower rate */ -- cgit v1.2.3