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fw att ctrl: rename some variables

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Thomas Gubler
2013-10-20 00:35:20 +02:00
parent feb75f08cb
commit 3c14483df2
4 changed files with 4 additions and 7 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+1 -2
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@@ -163,8 +163,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
//xxx: naming of gain variables (k_d <--> k_p)
_last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
_last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+1 -2
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@@ -136,8 +136,7 @@ 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 */
//xxx: naming of gain variables
_last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
_last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+1 -2
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@@ -150,8 +150,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
//xxx: naming of gain variables (k_d <--> k_p)
_last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
_last_output = (_rate_error * _k_p + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/modules/fw_att_control/fw_att_control_params.c
+1 -1
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@@ -44,7 +44,7 @@
#include <systemlib/param/param.h>
//XXX resolve unclear naming of paramters: FW_P_D --> FW_PR_P
//XXX resolve unclear naming of paramters: FW_P_P --> FW_PR_P
/*
* Controller parameters, accessible via MAVLink