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only allow positive spoiler and flap controls

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-04-27 20:32:06 +02:00
parent 64ff31aa08
commit 089673ff35
3 changed files with 6 additions and 6 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+3 -3
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@@ -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);
}
}