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fix tecs status logging

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tumbili
2015-08-22 14:08:58 +02:00
committed by Lorenz Meier
parent 221c222ca2
commit 6cdceb1829
6 changed files with 94 additions and 61 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+16 -13
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@@ -1920,22 +1920,25 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
break;
}
t.altitudeSp = s.hgt_dem;
t.altitude_filtered = s.hgt;
t.airspeedSp = s.spd_dem;
t.airspeed_filtered = s.spd;
t.altitudeSp = s.altitude_sp;
t.altitude_filtered = s.altitude_filtered;
t.airspeedSp = s.airspeed_sp;
t.airspeed_filtered = s.airspeed_filtered;
t.flightPathAngleSp = s.dhgt_dem;
t.flightPathAngle = s.dhgt;
t.flightPathAngleFiltered = s.dhgt;
t.flightPathAngleSp = s.altitude_rate_sp;
t.flightPathAngle = s.altitude_rate;
t.flightPathAngleFiltered = s.altitude_rate;
t.airspeedDerivativeSp = s.dspd_dem;
t.airspeedDerivative = s.dspd;
t.airspeedDerivativeSp = s.airspeed_rate_sp;
t.airspeedDerivative = s.airspeed_rate;
t.totalEnergyRateSp = s.thr;
t.totalEnergyRate = s.ithr;
t.energyDistributionRateSp = s.ptch;
t.energyDistributionRate = s.iptch;
t.totalEnergyError = s.total_energy_error;
t.totalEnergyRateError = s.total_energy_rate_error;
t.energyDistributionError = s.energy_distribution_error;
t.energyDistributionRateError = s.energy_distribution_rate_error;
t.throttle_sp = s.throttle_sp;
t.pitch_sp = s.pitch_sp;
if (_tecs_status_pub > 0) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);