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Turned all control outputs into NED frame moments, this is validated in real flight with a correct mixer setup.

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Lorenz Meier
2013-02-13 12:49:33 +01:00
parent f57b7fe0dd
commit d129eff5b9
2 changed files with 20 additions and 8 deletions
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apps/fixedwing_att_control/fixedwing_att_control_rate.c
+1 -3
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@@ -196,9 +196,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* roll rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
/* pitch rate (PI) */
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* set pitch minus feedforward throttle compensation (nose pitches up from throttle */
actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust;
actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* yaw rate (PI) */
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);