forked from Archive/PX4-Autopilot
fw control: fixed parameter reloading, disabled old fw control app
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56f4849e87
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17772afdaa
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@ -121,7 +121,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
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}
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}
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/* load new parameters with lower rate */
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/* load new parameters with lower rate */
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if (counter % 2500 == 0) {
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if (counter % 100 == 0) {
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/* update parameters from storage */
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/* update parameters from storage */
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parameters_update(&h, &p);
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parameters_update(&h, &p);
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}
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}
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@ -170,7 +170,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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}
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}
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/* load new parameters with lower rate */
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/* load new parameters with lower rate */
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if (counter % 2500 == 0) {
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if (counter % 100 == 0) {
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/* update parameters from storage */
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/* update parameters from storage */
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pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
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pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
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pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
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pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
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@ -76,7 +76,7 @@ CONFIGURED_APPS += sensors
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CONFIGURED_APPS += ardrone_interface
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CONFIGURED_APPS += ardrone_interface
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CONFIGURED_APPS += multirotor_att_control
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CONFIGURED_APPS += multirotor_att_control
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CONFIGURED_APPS += multirotor_pos_control
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CONFIGURED_APPS += multirotor_pos_control
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CONFIGURED_APPS += fixedwing_control
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#CONFIGURED_APPS += fixedwing_control
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CONFIGURED_APPS += fixedwing_att_control
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CONFIGURED_APPS += fixedwing_att_control
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CONFIGURED_APPS += fixedwing_pos_control
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CONFIGURED_APPS += fixedwing_pos_control
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CONFIGURED_APPS += position_estimator
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CONFIGURED_APPS += position_estimator
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