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VTOL tiltrotor: respect VT_ELEV_MC_LOCK

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This commit is contained in:
Julien Lecoeur 2019-01-31 23:38:58 +01:00 committed by Daniel Agar
parent 77ea5249a1
commit 57f9104420
1 changed files with 20 additions and 10 deletions
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30
src/modules/vtol_att_control/tiltrotor.cpp
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@ -334,15 +334,16 @@ void Tiltrotor::waiting_on_tecs()
*/
void Tiltrotor::fill_actuator_outputs()
{
// Multirotor output
_actuators_out_0->timestamp = hrt_absolute_time();
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
_mc_yaw_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
if (_vtol_schedule.flight_mode == FW_MODE) {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
@ -359,14 +360,23 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
}
// Fixed wing output
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]);
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_actuators_out_1->control[4] = _tilt_control;
if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == MC_MODE) {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
} else {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW];
}
}