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Code Issues Releases Activity

fixed signs in control loop

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This commit is contained in:
Corvus Corax 2013-12-08 14:00:18 +01:00
parent 84af4b7651
commit 95d52c6b08
1 changed files with 2 additions and 2 deletions
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4
flight/modules/AltitudeHold/altitudehold.c
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@ -149,10 +149,10 @@ static void altitudeHoldTask(void)
VelocityStateDownGet(&velocityStateDown);
// altitude control loop
altitudeHoldStatus.VelocityDesired = altitudeHoldSettings.AltitudeP * (positionStateDown - altitudeHoldDesired.Altitude) + altitudeHoldDesired.Velocity;
altitudeHoldStatus.VelocityDesired = altitudeHoldSettings.AltitudeP * (altitudeHoldDesired.Altitude - positionStateDown) + altitudeHoldDesired.Velocity;
// velocity control loop
altitudeHoldStatus.AccelerationDesired = altitudeHoldSettings.VelocityP * (velocityStateDown - altitudeHoldStatus.VelocityDesired) - 9.81f;
altitudeHoldStatus.AccelerationDesired = altitudeHoldSettings.VelocityP * (altitudeHoldStatus.VelocityDesired - velocityStateDown) - 9.81f;
altitudeHoldStatus.AccelerationFiltered = accelStateDown;