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control_allocator: add support for Tailsitter VTOL

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 0568cff299
commit 07306c4be3
15 changed files with 340 additions and 60 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -2
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@@ -429,11 +429,11 @@ void Standard::fill_actuator_outputs()
_thrust_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_thrust_setpoint_0->xyz[0] = 0.f;
_thrust_setpoint_0->xyz[1] = 0.f;
_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_0->xyz[2] = -mc_out[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->timestamp = hrt_absolute_time();
_thrust_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_thrust_setpoint_1->xyz[0] = fw_in[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->xyz[0] = fw_out[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_1->xyz[1] = 0.f;
_thrust_setpoint_1->xyz[2] = 0.f;