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This commit is contained in:
Antoine Drouin
2008-01-31 19:25:29 +00:00
parent 5aa34bc050
commit 4ff6e4a914
2 changed files with 6 additions and 3 deletions
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sw/airborne/tl_control.c
+2 -2
View File
@@ -138,11 +138,11 @@ void tl_control_attitude_read_setpoints_from_rc(void) {
#else
switch (cpu_time_sec % 4) {
case 0:
tl_control_attitude_psi_sp = RadOfDeg(-45.); break;
tl_control_attitude_psi_sp = RadOfDeg(-22.5); break;
case 1:
tl_control_attitude_psi_sp = RadOfDeg(0.); break;
case 2:
tl_control_attitude_psi_sp = RadOfDeg(45.); break;
tl_control_attitude_psi_sp = RadOfDeg(22.5); break;
case 3:
tl_control_attitude_psi_sp = RadOfDeg(0.); break;
}
sw/airborne/tl_vfilter.h
+4 -1
View File
@@ -1,7 +1,8 @@
#ifndef TL_VFILTER_H
#define TL_VFILTER_H
#define FLOAT_T double
//#define FLOAT_T double
#define FLOAT_T float
#define STATE_SIZE 3
extern FLOAT_T tl_vf_z;
@@ -9,6 +10,8 @@ extern FLOAT_T tl_vf_zdot;
extern FLOAT_T tl_vf_bias;
extern FLOAT_T tl_vf_P[STATE_SIZE][STATE_SIZE];
extern FLOAT_T tl_vf_z_meas;
extern void tl_vf_init(FLOAT_T z, FLOAT_T zdot, FLOAT_T bias);
extern void tl_vf_predict(FLOAT_T accel);
extern void tl_vf_update(FLOAT_T z_meas);