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FW att controller: roll controller: seperate from ecl_controller

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-07 17:21:09 +01:00
parent 48782723ab
commit 7e467f7121
5 changed files with 43 additions and 46 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -1
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@@ -341,7 +341,8 @@ void FixedwingAttitudeControl::Run()
if (_vcontrol_mode.flag_control_attitude_enabled && _in_fw_or_transition_wo_tailsitter_transition) {
if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) {
_roll_ctrl.control_attitude(dt, control_input);
_roll_ctrl.control_roll(_att_sp.roll_body, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
euler_angles.theta());
_pitch_ctrl.control_attitude(dt, control_input);
_yaw_ctrl.control_attitude(dt, control_input);