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WIP on HIL

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This commit is contained in:
Lorenz Meier
2012-09-22 20:55:44 +02:00
parent a9b21886f3
commit 8b951ec417
6 changed files with 78 additions and 51 deletions
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apps/multirotor_att_control/multirotor_attitude_control.c
+3 -3
View File
@@ -214,11 +214,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
// pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
// PID_MODE_DERIVATIV_SET, 154);
pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
PID_MODE_DERIVATIV_SET, 155);
PID_MODE_DERIVATIV_SET);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
PID_MODE_DERIVATIV_SET, 156);
PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
PID_MODE_DERIVATIV_SET, 157);
PID_MODE_DERIVATIV_SET);
initialized = true;
}
apps/multirotor_att_control/multirotor_rate_control.c
+3 -3
View File
@@ -157,11 +157,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
pid_init(&yaw_speed_controller, p.yawrate_p, 0, p.yawrate_i, p.yawrate_awu,
PID_MODE_DERIVATIV_SET, 155);
PID_MODE_DERIVATIV_SET);
pid_init(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
PID_MODE_DERIVATIV_SET, 156);
PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
PID_MODE_DERIVATIV_SET, 157);
PID_MODE_DERIVATIV_SET);
initialized = true;
}