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Merge branch 'fw_pid_cleanup' into fw_staging

This commit is contained in:
Thomas Gubler 2013-10-24 18:18:24 +02:00
parent a5046fdfa0 00825aa3cf
commit bff3bf8d87
1 changed files with 2 additions and 2 deletions
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4
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -442,7 +442,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll()
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s);
// warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s);
return true;
}
@ -698,7 +698,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(roll_u)) ? roll_u : 0.0f;
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f;
float yaw_u = _yaw_ctrl.control_bodyrate( _att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed,