fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 23:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL standard respect VT_ELEV_MC_LOCK

Browse Source
This commit is contained in:
Daniel Agar
2018-01-11 16:18:47 -05:00
parent 2756c76613
commit 137a2444a8
8 changed files with 26 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/standard.cpp
+22 -9
View File
@@ -517,13 +517,12 @@ void Standard::fill_actuator_outputs()
// fixed wing controls
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
if (_vtol_schedule.flight_mode != MC_MODE) {
//roll
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
//pitch
// pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim;
// yaw
@@ -534,11 +533,25 @@ void Standard::fill_actuator_outputs()
} else {
// zero outputs when inactive
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _params->fw_pitch_trim;
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_AIRBRAKES] = 0.0f;
if (_params->elevons_mc_lock) {
// zero outputs when inactive
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _params->fw_pitch_trim;
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_AIRBRAKES] = 0.0f;
} else {
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
// pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim;
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_AIRBRAKES] = 0.0f;
}
}
// set the fixed wing throttle control