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fw control: fixed parameter reloading, disabled old fw control app

This commit is contained in:
Thomas Gubler 2012-10-27 19:43:03 +02:00
parent 56f4849e87
commit 17772afdaa
3 changed files with 3 additions and 3 deletions
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2
apps/fixedwing_att_control/fixedwing_att_control_att.c
View File

@ -121,7 +121,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
}
/* load new parameters with lower rate */
if (counter % 2500 == 0) {
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
}

2
apps/fixedwing_att_control/fixedwing_att_control_rate.c
View File

@ -170,7 +170,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
}
/* load new parameters with lower rate */
if (counter % 2500 == 0) {
if (counter % 100 == 0) {
/* update parameters from storage */
pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);

2
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -76,7 +76,7 @@ CONFIGURED_APPS += sensors
CONFIGURED_APPS += ardrone_interface
CONFIGURED_APPS += multirotor_att_control
CONFIGURED_APPS += multirotor_pos_control
CONFIGURED_APPS += fixedwing_control
#CONFIGURED_APPS += fixedwing_control
CONFIGURED_APPS += fixedwing_att_control
CONFIGURED_APPS += fixedwing_pos_control
CONFIGURED_APPS += position_estimator