From 18e79c9649efbb04520cf7054c24fc4d8b67b4b4 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Wed, 11 Jan 2023 13:38:59 +0100 Subject: [PATCH] Tailsitter add yaw controls --- src/modules/vtol_att_control/tailsitter.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index 69bc5a7552..199a06f45a 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -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;