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Change FW altitude controller to operate energy balance instead of raw altitude

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-08-06 20:13:13 +10:00
parent f5a394d917
commit cda5940838
3 changed files with 22 additions and 7 deletions
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6
src/main/navigation/navigation.c
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@ -2605,9 +2605,9 @@ void navigationUsePIDs(void)
(float)pidProfile()->bank_fw.pid[PID_POS_XY].I / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_XY].D / 100.0f);
navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 100.0f);
navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 9.80665f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 9.80665f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 9.80665f);
}
void navigationInit(void)