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Map derivative gains for rate controls

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This commit is contained in:
Jaeyoung Lim
2022-07-18 10:33:18 +02:00
committed by Silvan Fuhrer
parent f2877ce585
commit dcff481219
3 changed files with 49 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -1
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@@ -96,7 +96,7 @@ FixedwingAttitudeControl::parameters_update()
const Vector3f rate_p = Vector3f(_param_fw_rr_p.get(), _param_fw_pr_p.get(), _param_fw_yr_p.get());
const Vector3f rate_i = Vector3f(_param_fw_rr_i.get(), _param_fw_pr_i.get(), _param_fw_yr_i.get());
const Vector3f rate_d = Vector3f(0.0f, 0.0f, 0.0f);
const Vector3f rate_d = Vector3f(_param_fw_rr_d.get(), _param_fw_pr_d.get(), _param_fw_yr_d.get());
_rate_control.setGains(rate_p, rate_i, rate_d);