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Added limit to heading command

This commit is contained in:
Lorenz Meier 2013-05-23 08:54:08 +02:00
parent c6b6b7ffcd
commit 81acd98997
1 changed files with 8 additions and 1 deletions
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9
src/examples/fixedwing_control/main.c
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@ -154,7 +154,14 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
/* calculate heading error */
float yaw_err = att->yaw - bearing;
/* apply control gain */
att_sp->roll_body = yaw_err * p.hdng_p;
float roll_command = yaw_err * p.hdng_p;
/* limit output, this commonly is a tuning parameter, too */
if (att_sp->roll_body < -0.5f) {
att_sp->roll_body = -0.5f;
} else if (att_sp->roll_body > 0.5f) {
att_sp->roll_body = 0.5f;
}
}
/* Main Thread */