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FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566)

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* RateControl: rename setGains to setPidGains to be more precise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-05-26 15:09:29 +02:00
committed by GitHub
parent ee96d209d7
commit ad769db8d6
6 changed files with 53 additions and 18 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -1
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@@ -80,7 +80,7 @@ MulticopterRateControl::parameters_updated()
// to the ideal (K * [1 + 1/sTi + sTd]) form
const Vector3f rate_k = Vector3f(_param_mc_rollrate_k.get(), _param_mc_pitchrate_k.get(), _param_mc_yawrate_k.get());
_rate_control.setGains(
_rate_control.setPidGains(
rate_k.emult(Vector3f(_param_mc_rollrate_p.get(), _param_mc_pitchrate_p.get(), _param_mc_yawrate_p.get())),
rate_k.emult(Vector3f(_param_mc_rollrate_i.get(), _param_mc_pitchrate_i.get(), _param_mc_yawrate_i.get())),
rate_k.emult(Vector3f(_param_mc_rollrate_d.get(), _param_mc_pitchrate_d.get(), _param_mc_yawrate_d.get())));