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Tailsitter: hack: publish the same torque sp on 0 and 1

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-08-09 11:44:10 +02:00
parent aed855ba17
commit 9364792da1
1 changed files with 11 additions and 3 deletions
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14
src/modules/vtol_att_control/tailsitter.cpp
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@ -411,14 +411,22 @@ void Tailsitter::fill_actuator_outputs()
// output differential thrust for yaw (FW frame) if enabled (to achieve yaw contorl in FW we need controller roll output)
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
mc_out[actuator_controls_s::INDEX_ROLL] = mc_in[actuator_controls_s::INDEX_ROLL] * _param_vt_fw_difthr_s_y.get() ;
_torque_setpoint_0->xyz[0] = mc_in[actuator_controls_s::INDEX_ROLL] * _param_vt_fw_difthr_s_y.get() ;
_torque_setpoint_0->xyz[0] = mc_in[actuator_controls_s::INDEX_ROLL] * _param_vt_fw_difthr_s_y.get();
}
_torque_setpoint_1->xyz[2] = mc_in[actuator_controls_s::INDEX_YAW] * _param_vt_fw_difthr_s_r.get();
_torque_setpoint_1->xyz[1] = mc_in[actuator_controls_s::INDEX_PITCH] * _param_vt_fw_difthr_s_p.get();
_torque_setpoint_1->xyz[0] = mc_in[actuator_controls_s::INDEX_ROLL] * _param_vt_fw_difthr_s_y.get();
} else {
_torque_setpoint_0->xyz[0] = mc_in[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_0->xyz[1] = mc_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_0->xyz[2] = mc_in[actuator_controls_s::INDEX_YAW];
_torque_setpoint_1->xyz[0] = mc_in[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_1->xyz[1] = mc_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[2] = mc_in[actuator_controls_s::INDEX_YAW];
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE];
}
@ -438,8 +446,8 @@ void Tailsitter::fill_actuator_outputs()
} else {
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[2] = -fw_in[actuator_controls_s::INDEX_ROLL];
// _torque_setpoint_1->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH];
// _torque_setpoint_1->xyz[2] = -fw_in[actuator_controls_s::INDEX_ROLL];
}
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;