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px4iofirmware: added scale parameters for roll, pitch and yaw

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since pure manual control for fixed wings in handled on the io side
the scale parameters for roll, pitch and yaw had to be introduced there
as well.

Signed-off-by: Roman <bapstr@ethz.ch>
This commit is contained in:
Roman
2016-07-12 13:48:57 +02:00
committed by Andreas Antener
parent 71e2a43790
commit 08bbd6dbfa
4 changed files with 17 additions and 5 deletions
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src/modules/px4iofirmware/mixer.cpp
+3 -3
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@@ -373,15 +373,15 @@ mixer_callback(uintptr_t handle,
if (source == MIX_OVERRIDE || source == MIX_OVERRIDE_FMU_OK) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_ROLL) {
control += REG_TO_FLOAT(r_setup_trim_roll);
control *= REG_TO_FLOAT(r_setup_scale_roll) + REG_TO_FLOAT(r_setup_trim_roll);
} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_PITCH) {
control += REG_TO_FLOAT(r_setup_trim_pitch);
control *= REG_TO_FLOAT(r_setup_scale_pitch) + REG_TO_FLOAT(r_setup_trim_pitch);
} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_YAW) {
control += REG_TO_FLOAT(r_setup_trim_yaw);
control *= REG_TO_FLOAT(r_setup_scale_yaw) + REG_TO_FLOAT(r_setup_trim_yaw);
}
}