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VTOL rate control architecture improvements (#10819)

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* 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
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src/modules/mavlink/mavlink_messages.cpp
+1 -1
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@@ -3138,7 +3138,7 @@ protected:
msg.body_pitch_rate = att_rates_sp.pitch;
msg.body_yaw_rate = att_rates_sp.yaw;
msg.thrust = att_sp.thrust;
msg.thrust = att_sp.thrust_body[0];
mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg);