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position_estimator_inav, multirotor_pos_control: bugs fixed

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This commit is contained in:
Anton Babushkin 2013-07-24 18:20:04 +04:00
parent 57837eb0b9
commit 8dd5130d99
2 changed files with 4 additions and 3 deletions
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3
src/modules/multirotor_pos_control/multirotor_pos_control.c
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@ -259,7 +259,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
for (int i = 0; i < 2; i++) {
pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f);
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max);
// TODO 1000.0 is hotfix
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1000.0f, params.tilt_max);
}
pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max);

4
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -453,8 +453,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
gps_corr[1][0] = gps_proj[1] - y_est[0];
if (gps.vel_ned_valid) {
gps_corr[0][1] = gps.vel_n_m_s;
gps_corr[1][1] = gps.vel_e_m_s;
gps_corr[0][1] = gps.vel_n_m_s - x_est[1];
gps_corr[1][1] = gps.vel_e_m_s - y_est[1];
} else {
gps_corr[0][1] = 0.0f;