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Tailsitter add yaw controls

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Jaeyoung Lim
2023-01-11 13:38:59 +01:00
parent af336719e6
commit 18e79c9649
1 changed files with 3 additions and 0 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+3
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@@ -364,8 +364,11 @@ void Tailsitter::fill_actuator_outputs()
} else {
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[0] = fw_in[actuator_controls_s::INDEX_YAW];
_torque_setpoint_1->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[2] = -fw_in[actuator_controls_s::INDEX_ROLL];
// PX4_INFO("fw_in: (%f, %f, %f)", double(fw_in[actuator_controls_s::INDEX_ROLL]),
// double(fw_in[actuator_controls_s::INDEX_PITCH]), double(fw_in[actuator_controls_s::INDEX_YAW]));
}
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;