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Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests

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Lorenz Meier
2012-08-19 15:52:59 +02:00
parent 85bc4f683a
commit dae0b922f1
22 changed files with 399 additions and 565 deletions
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apps/systemlib/pid/pid.h
+3 -3
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@@ -64,10 +64,10 @@ typedef struct {
uint8_t saturated;
} PID_t;
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);