fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-20 19:27:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

corrected tailsitter actuator control outputs

Browse Source
This commit is contained in:
Roman
2015-11-23 08:03:43 +01:00
committed by tumbili
parent 990eb68bbf
commit 7cb7245a84
1 changed files with 1 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tailsitter.cpp
+1 -7
View File
@@ -186,12 +186,6 @@ void Tailsitter::update_vtol_state()
break;
case TRANSITION_FRONT_P2:
// NOT USED
// check if we have reached pitch angle to switch to FW mode
//if (_v_att->pitch <= PITCH_TRANSITION_FRONT_P2) {
// _vtol_schedule.flight_mode = FW_MODE;
//}
break;
case TRANSITION_BACK:
// failsafe into fixed wing mode
@@ -467,7 +461,7 @@ void Tailsitter::fill_actuator_outputs()
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0; //pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
}
break;