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use virtual attitude setpoint

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Conflicts:
	src/modules/vtol_att_control/tailsitter.cpp
	src/modules/vtol_att_control/tiltrotor.cpp
	src/modules/vtol_att_control/vtol_att_control_main.cpp
	src/modules/vtol_att_control/vtol_att_control_main.h
	src/modules/vtol_att_control/vtol_type.h
This commit is contained in:
tumbili
2015-11-25 13:28:22 +01:00
parent d1dc8ed432
commit 0a0a074194
11 changed files with 143 additions and 34 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+6
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@@ -231,6 +231,9 @@ void Tailsitter::update_mc_state()
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
}
void Tailsitter::update_fw_state()
@@ -243,6 +246,9 @@ void Tailsitter::update_fw_state()
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
_mc_yaw_weight = 0.0f;
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
}
void Tailsitter::update_transition_state()