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pulled from PX4 master

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This commit is contained in:
Roman Bapst
2014-11-10 17:16:30 +01:00
parent 43ebaf287c 4e8e6e653b
commit 31238516b5
140 changed files with 4577 additions and 1221 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+15 -5
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@@ -721,8 +721,14 @@ void FixedwingAttitudeControl::task_main() {
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled
|| _vcontrol_mode.flag_control_position_enabled) {
/* Read attitude setpoint from uorb if
* - velocity control or position control is enabled (pos controller is running)
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_velocity_enabled ||
_vcontrol_mode.flag_control_position_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body
@@ -890,9 +896,13 @@ void FixedwingAttitudeControl::task_main() {
}
}
/* throttle passed through */
_actuators.control[3] =
(isfinite(throttle_sp)) ? throttle_sp : 0.0f;
/* throttle passed through if it is finite and if no engine failure was
* detected */
_actuators.control[3] = (isfinite(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double) throttle_sp);