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use optimal recovery strategy for tailsitters

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Roman
2015-12-11 10:57:41 +01:00
committed by Lorenz Meier
parent ac4e95df05
commit 7c3a67e374
6 changed files with 8 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+3 -2
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@@ -387,9 +387,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* fetch initial parameter values */
parameters_update();
vehicle_status_poll();
if (_vehicle_status.is_vtol && _params.vtol_type == 0) {
if (_params.vtol_type == 0) {
// the vehicle is a tailsitter, use optimal recovery control strategy
_ts_opt_recovery = new TailsitterRecovery();
}
@@ -835,6 +834,8 @@ MulticopterAttitudeControl::task_main()
control_attitude(dt);
} else {
vehicle_attitude_setpoint_poll();
_thrust_sp = _v_att_sp.thrust;
math::Quaternion q(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
math::Quaternion q_sp(&_v_att_sp.q_d[0]);
_ts_opt_recovery->setAttGains(_params.att_p, _params.yaw_ff);