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VTOL standard respect VT_ELEV_MC_LOCK

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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
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src/modules/vtol_att_control/tailsitter.cpp
+1 -8
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@@ -69,8 +69,6 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
_params_handles_tailsitter.back_trans_dur = param_find("VT_B_TRANS_DUR");
_params_handles_tailsitter.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_tailsitter.airspeed_blend_start = param_find("VT_ARSP_BLEND");
_params_handles_tailsitter.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
}
Tailsitter::~Tailsitter()
@@ -82,7 +80,6 @@ void
Tailsitter::parameters_update()
{
float v;
int l;
/* vtol duration of a front transition */
param_get(_params_handles_tailsitter.front_trans_dur, &v);
@@ -104,10 +101,6 @@ Tailsitter::parameters_update()
param_get(_params_handles_tailsitter.airspeed_blend_start, &v);
_params_tailsitter.airspeed_blend_start = v;
/* vtol lock elevons in multicopter */
param_get(_params_handles_tailsitter.elevons_mc_lock, &l);
_params_tailsitter.elevons_mc_lock = l;
/* avoid parameters which will lead to zero division in the transition code */
_params_tailsitter.front_trans_dur = math::max(_params_tailsitter.front_trans_dur, _min_front_trans_dur);
@@ -389,7 +382,7 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
if (_params->elevons_mc_lock == 1) {
if (_params->elevons_mc_lock) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;