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add option to lock elevons for tailsitters in mc mode

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tumbili
2015-06-19 09:53:04 +02:00
parent aade901ef0
commit 60857c7940
6 changed files with 26 additions and 14 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+8 -3
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@@ -178,7 +178,12 @@ void Tailsitter::fill_mc_att_control_output()
_actuators_out_0->control[1] = _actuators_mc_in->control[1];
_actuators_out_0->control[2] = _actuators_mc_in->control[2];
_actuators_out_0->control[3] = _actuators_mc_in->control[3];
//set neutral position for elevons
_actuators_out_1->control[0] = _actuators_mc_in->control[2]; //roll elevon
_actuators_out_1->control[1] = _actuators_mc_in->control[1]; //pitch elevon
if (_params->elevons_mc_lock == 1) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;
} else {
_actuators_out_1->control[0] = _actuators_mc_in->control[2]; //roll elevon
_actuators_out_1->control[1] = _actuators_mc_in->control[1]; //pitch elevon
}
}