fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 05:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into yaw_offset_limit

Browse Source
This commit is contained in:
Anton Babushkin
2014-05-15 10:23:14 +02:00
parent 8e43db7bc0 91b67d3f4a
commit 7ef3c24637
51 changed files with 231 additions and 116 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+6 -5
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,9 +32,13 @@
****************************************************************************/
/**
* @file mc_att_control_main.c
* @file mc_att_control_main.cpp
* Multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
* For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
@@ -825,7 +826,7 @@ MulticopterAttitudeControl::start()
_control_task = task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
2000,
(main_t)&MulticopterAttitudeControl::task_main_trampoline,
nullptr);
src/modules/mc_att_control/mc_att_control_params.c
+4 -3
View File
@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
/**
* @file mc_att_control_params.c
* Parameters for multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <systemlib/param/param.h>