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using jacobians in fw attitude control

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Thomas Gubler
2013-10-24 17:39:12 +02:00
parent 8193382ec2
commit 1c57d7de43
5 changed files with 10 additions and 8 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+2 -2
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@@ -635,11 +635,11 @@ FixedwingAttitudeControl::task_main()
}
}
float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed,
float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed, _att.pitch, _att.yawspeed,
airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
_actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f;
float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, airspeed_scaling,
float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, _att.yawspeed, airspeed_scaling,
lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
_actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f;