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Yaw rate sanity checking for controller

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Lorenz Meier
2012-11-20 16:51:13 +01:00
parent 7820024d90
commit 13000a7121
1 changed files with 5 additions and 0 deletions
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apps/multirotor_att_control/multirotor_rate_control.c
+5
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@@ -209,6 +209,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */
if (!isfinite(yaw_rate_control)) {
yaw_rate_control = 0.0f;
warnx("rej. NaN ctrl yaw");
}
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;