fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 03:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL rate control architecture improvements (#10819)

Browse Source 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-21 20:32:40 -05:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp
+1 -1
View File
@@ -303,7 +303,7 @@ GroundRoverAttitudeControl::task_main()
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _att_sp.thrust;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _att_sp.thrust_body[0];
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&