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minor fixes

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This commit is contained in:
tumbili
2015-10-14 11:06:10 +02:00
committed by Roman
parent f3e0d91f24
commit b30091be00
3 changed files with 8 additions and 8 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+3 -3
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@@ -421,7 +421,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERONS_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
_parameter_handles.vtol_type = param_find("VT_TYPE");
@@ -823,7 +823,7 @@ FixedwingAttitudeControl::task_main()
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled) {
flaps_control = _manual.flaps * _parameters.flaps_scale;
flaps_control = 0.5f * (_manual.flaps + 1.0f ) * _parameters.flaps_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
flaps_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
}
@@ -833,7 +833,7 @@ FixedwingAttitudeControl::task_main()
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled) {
flaperon = _manual.aux2 * _parameters.flaperon_scale;
flaperon = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
flaperon = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
}