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moved elevator (-1) multipliction, ultimately this has to go into the mixer

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Thomas Gubler
2012-10-28 16:56:05 +01:00
parent 8fff4e19d6
commit 69e938aac3
2 changed files with 4 additions and 4 deletions
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apps/fixedwing_att_control/fixedwing_att_control_main.c
+1 -1
View File
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
apps/fixedwing_att_control/fixedwing_att_control_rate.c
+3 -3
View File
@@ -170,9 +170,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* Roll Rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
//XXX TODO disabled for now
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
counter++;