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Correct Ki and Kd inversion in rover pid_set_parameters

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flbernier
2020-04-17 08:18:10 +02:00
committed by Beat Küng
parent 7bbb7e6b24
commit 45e88aa8d3
1 changed files with 1 additions and 1 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+1 -1
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@@ -86,8 +86,8 @@ void RoverPositionControl::parameters_update(bool force)
pid_init(&_speed_ctrl, PID_MODE_DERIVATIV_CALC, 0.01f); pid_init(&_speed_ctrl, PID_MODE_DERIVATIV_CALC, 0.01f);
pid_set_parameters(&_speed_ctrl, pid_set_parameters(&_speed_ctrl,
_param_speed_p.get(), _param_speed_p.get(),
_param_speed_d.get(),
_param_speed_i.get(), _param_speed_i.get(),
_param_speed_d.get(),
_param_speed_imax.get(), _param_speed_imax.get(),
_param_gndspeed_max.get()); _param_gndspeed_max.get());
} }