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multirotor_pos_control: use separate PID controllers for position and velocity

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Anton Babushkin
2013-07-09 14:09:48 +04:00
parent 320a5b7579
commit 04fbed493a
7 changed files with 423 additions and 138 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+1 -1
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@@ -120,7 +120,7 @@ int position_estimator_inav_main(int argc, char *argv[])
verbose_mode = true;
thread_should_exit = false;
position_estimator_inav_task = task_spawn("position_estimator_inav",
position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
position_estimator_inav_thread_main,
(argv) ? (const char **) &argv[2] : (const char **) NULL);