From 3a6882a4d665cbc67d0bafdbfcdae5cda3971b7a Mon Sep 17 00:00:00 2001 From: sander Date: Wed, 24 Feb 2016 03:02:35 +0100 Subject: [PATCH] First attempt at pusher assist --- src/modules/vtol_att_control/standard.cpp | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index dc49e1fda6..b823a3719d 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -301,8 +301,17 @@ void Standard::fill_actuator_outputs() _actuators_out_0->timestamp = _actuators_mc_in->timestamp; _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight; // roll - _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = - _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight; // pitch + + if(_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] < -0.01f){ + _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = -0.01f; + _pusher_throttle = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * -1; + } else { + _actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = + _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight; // pitch + } + + + _actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight; // yaw _actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =