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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/navigator/gpsfailure.cpp
+1 -1
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@@ -86,7 +86,7 @@ GpsFailure::on_active()
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = math::radians(_param_openlooploiter_roll.get());
att_sp.pitch_body = math::radians(_param_openlooploiter_pitch.get());
att_sp.thrust = _param_openlooploiter_thrust.get();
att_sp.thrust_body[0] = _param_openlooploiter_thrust.get();
Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f));
q.copyTo(att_sp.q_d);