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add yaw_manual override variable, effective only in ALTCTL and do not publish it in attitude rates

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Mark Whitehorn
2014-12-29 16:49:42 +01:00
committed by Thomas Gubler
parent 22f744f0e1
commit a0b767f467
1 changed files with 5 additions and 0 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+5
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@@ -824,6 +824,7 @@ FixedwingAttitudeControl::task_main()
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float yaw_manual = 0.0f;
float throttle_sp = 0.0f;
/* Read attitude setpoint from uorb if
@@ -884,6 +885,8 @@ FixedwingAttitudeControl::task_main()
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
// allow manual control of rudder deflection
yaw_manual = _manual.r;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
@@ -983,6 +986,8 @@ FixedwingAttitudeControl::task_main()
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
// add in manual rudder control
_actuators.control[2] += yaw_manual;
if (!isfinite(yaw_u)) {
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);