fly316/PX4-Autopilot
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Merge branch 'master' into inav_fix

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This commit is contained in:
Anton Babushkin 2013-09-30 19:39:55 +02:00
commit 921662ebe0
3 changed files with 19 additions and 2 deletions
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2
ROMFS/px4fmu_common/init.d/16_3dr_iris
View File

@ -53,7 +53,7 @@ else
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
param set BAT_V_SCALING 0.0098
set EXIT_ON_END yes
fi

16
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -27,6 +27,22 @@ else
set BOARD fmuv2
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "using MEAS airspeed sensor"
else
if ets_airspeed start
then
echo "using ETS airspeed sensor (bus 3)"
else
if ets_airspeed start -b 1
then
echo "Using ETS airspeed sensor (bus 1)"
fi
fi
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets

3
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -734,9 +734,10 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
if (altitude_error > 10.0f) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas,
true, math::radians(global_triplet.current.param1),
true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));