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Stabilization enabling / switching

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Lorenz Meier
2012-12-30 09:53:45 +01:00
parent 0298714db5
commit 62a95bf8e6
4 changed files with 98 additions and 53 deletions
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apps/fixedwing_att_control/fixedwing_att_control_main.c
+14 -2
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@@ -208,7 +208,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
att_sp.roll_body = 0.3f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0;
att_sp.thrust = 0.4f;
/* limit throttle to 60 % of last value */
if (isfinite(manual_sp.throttle)) {
att_sp.thrust = 0.6f * manual_sp.throttle;
} else {
att_sp.thrust = 0.0f;
}
// XXX disable yaw control, loiter
@@ -250,7 +256,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
//param_get(failsafe_throttle_handle, &failsafe_throttle);
att_sp.roll_body = 0.3f;
att_sp.pitch_body = 0.0f;
att_sp.thrust = 0.4f;
/* limit throttle to 60 % of last value */
if (isfinite(manual_sp.throttle)) {
att_sp.thrust = 0.6f * manual_sp.throttle;
} else {
att_sp.thrust = 0.0f;
}
att_sp.yaw_body = 0;
// XXX disable yaw control, loiter