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in fw mode, publish also yaw and throttle on control group 1 for logging

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tumbili
2014-12-03 09:47:56 +01:00
parent f7ca1d36d2
commit 563de3b49c
1 changed files with 5 additions and 2 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+5 -2
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@@ -402,8 +402,11 @@ void VtolAttitudeControl::fill_fw_att_control_output()
_actuators_out_0.control[2] = 0;
_actuators_out_0.control[3] = _actuators_fw_in.control[3];
/*controls for the elevons */
_actuators_out_1.control[0] = -_actuators_fw_in.control[0]; /*roll elevon*/
_actuators_out_1.control[1] = _actuators_fw_in.control[1]; /*pitch elevon */
_actuators_out_1.control[0] = -_actuators_fw_in.control[0]; // roll elevon
_actuators_out_1.control[1] = _actuators_fw_in.control[1]; // pitch elevon
// unused now but still logged
_actuators_out_1.control[2] = _actuators_fw_in.control[2]; // yaw
_actuators_out_1.control[3] = _actuators_fw_in.control[3]; // throttle
}
/**