fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 14:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW att controller: yaw controller: separate from ecl_controller

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-07 17:21:09 +01:00
parent d4206195c6
commit 448292c980
6 changed files with 53 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -1
View File
@@ -345,7 +345,8 @@ void FixedwingAttitudeControl::Run()
euler_angles.theta());
_pitch_ctrl.control_pitch(_att_sp.pitch_body, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
euler_angles.theta());
_yaw_ctrl.control_attitude(dt, control_input);
_yaw_ctrl.control_yaw(_att_sp.roll_body, _pitch_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
euler_angles.theta(), get_airspeed_constrained());
if (wheel_control) {
_wheel_ctrl.control_attitude(dt, control_input);