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FW Position controller: add option to swap throttle and pitch stick

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-11-02 22:49:05 +01:00
parent ad0de67df7
commit 67a0e1993a
3 changed files with 48 additions and 12 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+6
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@@ -261,6 +261,9 @@ private:
uint8_t _pos_reset_counter{0}; ///< captures the number of times the estimator has reset the horizontal position
uint8_t _alt_reset_counter{0}; ///< captures the number of times the estimator has reset the altitude state
float _manual_control_setpoint_altitude{0.0f};
float _manual_control_setpoint_airspeed{0.0f};
ECL_L1_Pos_Controller _l1_control;
TECS _tecs;
@@ -281,6 +284,7 @@ private:
// Update subscriptions
void airspeed_poll();
void control_update();
void manual_control_setpoint_poll();
void vehicle_attitude_poll();
void vehicle_command_poll();
void vehicle_control_mode_poll();
@@ -415,6 +419,8 @@ private:
(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
(ParamFloat<px4::params::FW_THR_SLEW_MAX>) _param_fw_thr_slew_max,
(ParamBool<px4::params::FW_POSCTL_INV_ST>) _param_fw_posctl_inv_st,
// external parameters
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,