fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 11:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

don't use virtual line anymore for takeoff but use correct starting point to navigate, updated default parameters for wheel controller

Browse Source
This commit is contained in:
Andreas Antener
2015-11-17 22:28:09 +01:00
committed by Roman
parent 5949b6615d
commit 4e22d65325
5 changed files with 45 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
+2 -2
View File
@@ -111,8 +111,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
_last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler +
_rate_error * _k_p * ctl_data.groundspeed_scaler * ctl_data.groundspeed_scaler +
integrator_constrained;
/*warnx("wheel: _last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, speed %.4f, _k_i %.4f, _k_p: %.4f",
(double)_last_output, (double)_integrator, (double)_integrator_max, (double)speed, (double)_k_i, (double)_k_p);*/
/*warnx("wheel: _last_output: %.4f, _integrator: %.4f, scaler %.4f",
(double)_last_output, (double)_integrator, (double)ctl_data.groundspeed_scaler);*/
return math::constrain(_last_output, -1.0f, 1.0f);