From 45e88aa8d348849ffdb67490d429030cfc06745c Mon Sep 17 00:00:00 2001 From: flbernier Date: Wed, 15 Apr 2020 12:46:39 +0200 Subject: [PATCH] Correct Ki and Kd inversion in rover pid_set_parameters --- src/modules/rover_pos_control/RoverPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp index 2f6508817c..eaeea06b55 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.cpp +++ b/src/modules/rover_pos_control/RoverPositionControl.cpp @@ -86,8 +86,8 @@ void RoverPositionControl::parameters_update(bool force) pid_init(&_speed_ctrl, PID_MODE_DERIVATIV_CALC, 0.01f); pid_set_parameters(&_speed_ctrl, _param_speed_p.get(), - _param_speed_d.get(), _param_speed_i.get(), + _param_speed_d.get(), _param_speed_imax.get(), _param_gndspeed_max.get()); }