fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 22:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Switch manual_control_setpoint.z scaling from [0,1] to [-1,1]

Browse Source 
To be consistent with all other axes of stick input and avoid future
rescaling confusion.

Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
This commit is contained in:
Matthias Grob
2020-10-12 20:03:31 +02:00
parent 5579e319ff
commit 83246c84cf
13 changed files with 38 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+5 -4
View File
@@ -141,6 +141,8 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
const float throttle = (_manual_control_setpoint.z + 1.f) * .5f;
if (_vcontrol_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs
@@ -152,7 +154,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
-radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get()));
_att_sp.yaw_body = yaw_body; // yaw is not controlled, so set setpoint to current yaw
_att_sp.thrust_body[0] = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f);
_att_sp.thrust_body[0] = throttle;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
@@ -171,7 +173,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
_rates_sp.roll = _manual_control_setpoint.y * radians(_param_fw_acro_x_max.get());
_rates_sp.pitch = -_manual_control_setpoint.x * radians(_param_fw_acro_y_max.get());
_rates_sp.yaw = _manual_control_setpoint.r * radians(_param_fw_acro_z_max.get());
_rates_sp.thrust_body[0] = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f);
_rates_sp.thrust_body[0] = throttle;
_rate_sp_pub.publish(_rates_sp);
@@ -183,8 +185,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
-_manual_control_setpoint.x * _param_fw_man_p_sc.get() + _param_trim_pitch.get();
_actuator_controls.control[actuator_controls_s::INDEX_YAW] =
_manual_control_setpoint.r * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] = math::constrain(_manual_control_setpoint.z, 0.0f,
1.0f);
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] = throttle;
_landing_gear_wheel.normalized_wheel_setpoint = _manual_control_setpoint.r;
}
}