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Merge branch 'seatbelt_multirotor' into seatbelt_multirotor_new

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WIP, TODO fixedwing
This commit is contained in:
Anton Babushkin
2013-08-16 13:23:33 +02:00
parent 3f9f1d60e0 a013fc5d0b
commit f78666e0c8
31 changed files with 1931 additions and 807 deletions
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src/modules/systemlib/pid/pid.c
+1 -5
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@@ -124,7 +124,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
* @param dt
* @return
*/
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt, float *ctrl_p, float *ctrl_i, float *ctrl_d)
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
/* error = setpoint - actual_position
integral = integral + (error*dt)
@@ -196,10 +196,6 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
pid->last_output = output;
}
*ctrl_p = (error * pid->kp);
*ctrl_i = (i * pid->ki);
*ctrl_d = (d * pid->kd);
return pid->last_output;
}