From 089673ff35a1afa84e551404185e67d2cb868fe9 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Wed, 27 Apr 2022 20:32:06 +0200
Subject: [PATCH] only allow positive spoiler and flap controls

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 .../ActuatorEffectivenessTiltrotorVTOL.cpp                  | 6 +++---
 src/modules/fw_att_control/FixedwingAttitudeControl.cpp     | 4 ++--
 src/modules/vtol_att_control/vtol_type.cpp                  | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
index df9fa7162b..f815b53e83 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
@@ -98,9 +98,9 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 		actuator_controls_s actuator_controls_1;
 
 		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
-			float control_flaps = -1.f; // For tilt-rotors INDEX_FLAPS is set as combined tilt. TODO: fix this
-			float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
-			_control_surfaces.applyFlapsAndAirbrakes(control_flaps, airbrakes_control, _first_control_surface_idx, actuator_sp);
+			const float flaps_control = actuator_controls_1.control[actuator_controls_s::INDEX_FLAPS];
+			const float airbrakes_control = actuator_controls_1.control[actuator_controls_s::INDEX_AIRBRAKES];
+			_control_surfaces.applyFlapsAndAirbrakes(flaps_control, airbrakes_control, _first_control_surface_idx, actuator_sp);
 		}
 	}
 
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index ca0c8e55d1..45d05f8a4c 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -732,7 +732,7 @@ void FixedwingAttitudeControl::controlFlaps(const float dt)
 	}
 
 	// move the actual control value continuous with time, full flap travel in 1sec
-	_flaps_setpoint_with_slewrate.update(flap_control, dt);
+	_flaps_setpoint_with_slewrate.update(math::constrain(flap_control, 0.f, 1.f), dt);
 }
 
 void FixedwingAttitudeControl::controlSpoilers(const float dt)
@@ -769,7 +769,7 @@ void FixedwingAttitudeControl::controlSpoilers(const float dt)
 		}
 	}
 
-	_spoiler_setpoint_with_slewrate.update(spoiler_control, dt);
+	_spoiler_setpoint_with_slewrate.update(math::constrain(spoiler_control, 0.f, 1.f), dt);
 }
 
 void FixedwingAttitudeControl::updateActuatorControlsStatus(float dt)
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 2a03659e7b..745dbb9423 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -168,7 +168,7 @@ void VtolType::update_mc_state()
 		spoiler_setpoint_hover = _params->vt_spoiler_mc_ld;
 	}
 
-	_spoiler_setpoint_with_slewrate.update(spoiler_setpoint_hover, _dt);
+	_spoiler_setpoint_with_slewrate.update(math::constrain(spoiler_setpoint_hover, 0.f, 1.f), _dt);
 	_flaps_setpoint_with_slewrate.update(0.f, _dt);
 }