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Fixed compile errors for multicopter

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Lorenz Meier
2013-07-13 18:41:35 +02:00
parent 67fcdae30a
commit c4e967eb97
2 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
+1 -1
View File
@@ -50,7 +50,7 @@
ECL_MCAttControlVector::ECL_MCAttControlVector() : ECL_MCAttControlVector::ECL_MCAttControlVector() :
_integral_error(0.0f, 0.0f), _integral_error(0.0f, 0.0f),
_integral_max(1000.0f), _integral_max(1000.0f, 1000.0f),
_integral_lock(false) _integral_lock(false)
{ {
src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
+4 -4
View File
@@ -50,7 +50,7 @@
class ECL_MCAttControlVector { class ECL_MCAttControlVector {
public: public:
ECL_MCAttControlVector(float integral_max); ECL_MCAttControlVector();
void control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des, 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, float Kp, float Kd, float Ki, const math::Vector &angular_rates,
math::Vector &rates_des, float &thrust); math::Vector &rates_des, float &thrust);
@@ -65,12 +65,12 @@ public:
_integral_error(1) = 0.0f; _integral_error(1) = 0.0f;
} }
void lock_integral(bool lock) { void lock_integrator(bool lock) {
_integral_lock = lock; _integral_lock = lock;
} }
protected: protected:
math::Vector2 _integral_error; math::Vector2f _integral_error;
math::Vector2 _integral_max; math::Vector2f _integral_max;
bool _integral_lock; bool _integral_lock;
}; };