fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 00:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw: remove duplicate feedforward

Browse Source
This commit is contained in:
Thomas Gubler
2014-01-22 15:07:49 +01:00
parent 480d31f754
commit 30cf4097c5
3 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+1 -1
View File
@@ -141,7 +141,7 @@ float ECL_RollController::control_bodyrate(float pitch,
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed
return math::constrain(_last_output, -1.0f, 1.0f);
}