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Fixed compile errors for multicopter

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This commit is contained in:
Lorenz Meier 2013-07-13 18:41:35 +02:00
parent 67fcdae30a
commit c4e967eb97
2 changed files with 5 additions and 5 deletions
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2
src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
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@ -50,7 +50,7 @@
ECL_MCAttControlVector::ECL_MCAttControlVector() :
_integral_error(0.0f, 0.0f),
_integral_max(1000.0f),
_integral_max(1000.0f, 1000.0f),
_integral_lock(false)
{

8
src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
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@ -50,7 +50,7 @@
class ECL_MCAttControlVector {
public:
ECL_MCAttControlVector(float integral_max);
ECL_MCAttControlVector();
void control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des,
float Kp, float Kd, float Ki, const math::Vector &angular_rates,
math::Vector &rates_des, float &thrust);
@ -65,12 +65,12 @@ public:
_integral_error(1) = 0.0f;
}
void lock_integral(bool lock) {
void lock_integrator(bool lock) {
_integral_lock = lock;
}
protected:
math::Vector2 _integral_error;
math::Vector2 _integral_max;
math::Vector2f _integral_error;
math::Vector2f _integral_max;
bool _integral_lock;
};