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tailsitter: use differential thrust to control pitch and roll in FW

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-18 19:10:40 +02:00
parent 8e6976a404
commit cbac0e8b8c
1 changed files with 7 additions and 0 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+7
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@@ -146,6 +146,7 @@ void Tailsitter::update_vtol_state()
if (transition_to_fw) {
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
printf("transition to FW completed\n");
}
// check front transition timeout
@@ -341,6 +342,12 @@ void Tailsitter::fill_actuator_outputs()
_torque_setpoint_0->xyz[0] = fw_in[actuator_controls_s::INDEX_YAW] * _param_vt_fw_difthr_sc.get() ;
}
mc_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_0->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH];
mc_out[actuator_controls_s::INDEX_YAW] = -fw_in[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_0->xyz[2] = fw_in[actuator_controls_s::INDEX_ROLL];
} 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];