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Merge branch 'master' of github.com:PX4/Firmware

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This commit is contained in:
Lorenz Meier
2012-09-07 22:12:32 +02:00
parent cca865eff0 c25cef299f
commit b67d7fc22a
39 changed files with 512 additions and 246 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+1
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@@ -144,6 +144,7 @@ mc_thread_main(int argc, char *argv[])
att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
att_sp.yaw_body = -manual.yaw * M_PI_F;
att_sp.timestamp = hrt_absolute_time();
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
apps/multirotor_att_control/multirotor_attitude_control.c
+1 -1
View File
@@ -231,7 +231,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
}
/* calculate current control outputs */