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manual merge of origin/master into fw_control

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Thomas Gubler
2012-11-21 21:35:13 +01:00
parent 1f798efd17 e24c349d1d
commit 6fb54ec62c
59 changed files with 2088 additions and 355 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+2 -2
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@@ -144,10 +144,10 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
}
/* Roll (P) */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0);
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
/* Pitch (P) */
float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */