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multirotor_pos_control: set PID parameters on init

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Anton Babushkin
2013-11-27 23:09:05 +04:00
parent 3a6be42265
commit b9ea915136
1 changed files with 5 additions and 3 deletions
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src/modules/multirotor_pos_control/multirotor_pos_control.c
+5 -3
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@@ -244,7 +244,6 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
parameters_init(&params_h);
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_init(&(xy_pos_pids[i]), PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
@@ -253,15 +252,18 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
pid_init(&z_pos_pid, PID_MODE_DERIVATIV_SET, 0.02f);
thrust_pid_init(&z_vel_pid, 0.02f);
bool param_updated = true;
while (!thread_should_exit) {
bool param_updated;
orb_check(param_sub, &param_updated);
if (!param_updated)
orb_check(param_sub, &param_updated);
if (param_updated) {
/* clear updated flag */
struct parameter_update_s ps;
orb_copy(ORB_ID(parameter_update), param_sub, &ps);
/* update params */
parameters_update(&params_h, &params);