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Helicopter aiframe and basic PID control (#5339)

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* Helicopter aiframe and basic PID control

* codestyle

* Blade 130x gains working but not optimal

* Changed behaviour of feedforward for all multicopter
This commit is contained in:
Bart Slinger
2016-08-19 22:20:59 +02:00
committed by Lorenz Meier
parent 75c95955fc
commit 7f04e3c759
3 changed files with 107 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+3 -1
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@@ -788,8 +788,10 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err * tpa) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int +
_params.rate_ff.emult(_rates_sp - _rates_sp_prev) / dt;
_params.rate_ff.emult(_rates_sp);
_rates_sp_prev = _rates_sp;
_rates_prev = rates;