fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 05:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Cleaned up PI wrapping code, still subject to testing

Browse Source
This commit is contained in:
Lorenz Meier
2012-11-20 15:19:51 +01:00
parent 129e6d73de
commit 6ff4520904
10 changed files with 121 additions and 174 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/fixedwing_att_control/fixedwing_att_control_att.c
+2 -2
View File
@@ -143,10 +143,10 @@ 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) */