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First attempt at pusher assist

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sander
2016-04-11 14:56:49 +02:00
committed by tumbili
parent 441d7aacbb
commit 3a6882a4d6
1 changed files with 11 additions and 2 deletions
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src/modules/vtol_att_control/standard.cpp
+11 -2
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@@ -301,8 +301,17 @@ void Standard::fill_actuator_outputs()
_actuators_out_0->timestamp = _actuators_mc_in->timestamp; _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] _actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight; // 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] * _actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
_mc_yaw_weight; // yaw _mc_yaw_weight; // yaw
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =