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fix wrong operation in yaw controller

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Thomas Gubler
2013-10-24 18:14:54 +02:00
parent 19ae09dbad
commit a5046fdfa0
3 changed files with 9 additions and 5 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+2 -2
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@@ -133,11 +133,11 @@ float ECL_RollController::control_bodyrate(float pitch,
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
// warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
warnx("roll: _last_output %.4f", (double)_last_output);
// warnx("roll: _last_output %.4f", (double)_last_output);
return math::constrain(_last_output, -1.0f, 1.0f);
}