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Merge pull request #225 from PX4/sign_fix

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Fix signs for fixed wing control
This commit is contained in:
Lorenz Meier
2013-03-17 03:16:55 -07:00
parent 0ee5293ceb a0afed400f
commit 002fb1b4ea
4 changed files with 14 additions and 10 deletions
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apps/controllib/fixedwing.cpp
+2 -2
View File
@@ -323,7 +323,7 @@ void BlockMultiModeBacksideAutopilot::update()
_att.rollspeed, _att.pitchspeed, _att.yawspeed
);
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = - _backsideAutopilot.getElevator();
_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
@@ -355,7 +355,7 @@ void BlockMultiModeBacksideAutopilot::update()
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = - _stabilization.getElevator();
_actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle;
}
apps/px4io/controls.c
+4
View File
@@ -192,6 +192,10 @@ controls_tick() {
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < MAX_CONTROL_CHANNELS);
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}