rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

OP-1309 fixed bug in outerloop

Browse Source
This commit is contained in:
Corvus Corax 2014-05-01 18:52:39 +02:00
parent 944f3f5d2f
commit 2247fd69ec
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flight/modules/Stabilization/outerloop.c
View File

@ -151,7 +151,7 @@ static void stabilizationOuterloopTask()
case STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE:
rateDesiredAxis[t] = pid_apply(&stabSettings.outerPids[t], local_error[t], dT);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
case STABILIZATIONSTATUS_OUTERLOOP_RATTITUDE:
{
float stickinput[3];
stickinput[0] = boundf(stabilizationDesiredAxis[0] / stabSettings.stabBank.RollMax, -1.0f, 1.0f);
@ -210,7 +210,7 @@ static void stabilizationOuterloopTask()
rateDesiredAxis[t] = (1.0f - magnitude) * rateDesiredAxis[t] + magnitude * rateDesiredAxisRate;
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
case STABILIZATIONSTATUS_OUTERLOOP_WEAKLEVELING:
// FIXME: local_error[] is rate - attitude for Weak Leveling
// The only ramifications are:
// Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS