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FW Att C: use new param FW_MAN_YR_MAX to control yawing with sticks in attitude controlled mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-21 17:08:08 +01:00
committed by Daniel Agar
parent c186f798b6
commit c24f9561e9
3 changed files with 20 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -2
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@@ -549,9 +549,9 @@ void FixedwingAttitudeControl::Run()
}
}
/* add yaw rate setpoint from sticks in Stabilized mode */
/* add yaw rate setpoint from sticks in all attitude-controlled modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.r * radians(_param_fw_y_rmax.get()),
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.r * radians(_param_fw_man_yr_max.get()),
-radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
}