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add control output for tilting rotors

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Roman Bapst
2015-04-21 13:22:57 +02:00
parent 05847fd4c7
commit 15f11ae1e2
1 changed files with 3 additions and 1 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+3 -1
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@@ -176,7 +176,7 @@ private:
bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode" bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
unsigned _motor_count; // number of motors unsigned _motor_count; // number of motors
float _airspeed_tot; float _airspeed_tot;
float _tilt_control;
//*****************Member functions*********************************************************************** //*****************Member functions***********************************************************************
void task_main(); //main task void task_main(); //main task
@@ -241,6 +241,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
flag_idle_mc = true; flag_idle_mc = true;
_airspeed_tot = 0.0f; _airspeed_tot = 0.0f;
_tilt_control = 0.0f;
memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status)); memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/ _vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/
@@ -521,6 +522,7 @@ void VtolAttitudeControl::fill_mc_att_control_output()
//set neutral position for elevons //set neutral position for elevons
_actuators_out_1.control[0] = _actuators_mc_in.control[2]; //roll elevon _actuators_out_1.control[0] = _actuators_mc_in.control[2]; //roll elevon
_actuators_out_1.control[1] = _actuators_mc_in.control[1];; //pitch elevon _actuators_out_1.control[1] = _actuators_mc_in.control[1];; //pitch elevon
_actuators_out_1.control[4] = _tilt_control; // for tilt-rotor control
} }
/** /**