fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 23:03:34 +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
2022-11-28 19:25:55 +01:00
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/mc_att_control/mc_att_control_main.cpp
+3 -3
View File
@@ -116,8 +116,8 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
if (reset_yaw_sp) {
_man_yaw_sp = yaw;
} else if (math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f) > 0.05f
|| _param_mc_airmode.get() == 2) {
} else if ((_manual_control_setpoint.z > -.9f)
|| (_param_mc_airmode.get() == 2)) {
const float yaw_rate = math::radians(_param_mpc_man_y_max.get());
attitude_setpoint.yaw_sp_move_rate = _manual_control_setpoint.r * yaw_rate;
@@ -200,7 +200,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
Quatf q_sp = Eulerf(attitude_setpoint.roll_body, attitude_setpoint.pitch_body, attitude_setpoint.yaw_body);
q_sp.copyTo(attitude_setpoint.q_d);
attitude_setpoint.thrust_body[2] = -throttle_curve(math::constrain(_manual_control_setpoint.z, 0.f, 1.f));
attitude_setpoint.thrust_body[2] = -throttle_curve((_manual_control_setpoint.z + 1.f) * .5f);
attitude_setpoint.timestamp = hrt_absolute_time();
_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);