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Remove flap scaling to prevent flaps being deployed in manual mode

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This commit restores the flap scaling since it was always getting deployed in manual flight modes
This commit is contained in:
Jaeyoung-Lim
2021-08-13 15:46:23 +02:00
committed by Silvan Fuhrer
parent 72bc8647a9
commit d30760a2ea
1 changed files with 1 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -1
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@@ -655,7 +655,7 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
/* map flaps by default to manual if valid */ /* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) { && fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
flap_control = 0.5f * (_manual_control_setpoint.flaps + 1.0f) * _param_fw_flaps_scl.get(); flap_control = _manual_control_setpoint.flaps * _param_fw_flaps_scl.get();
} else if (_vcontrol_mode.flag_control_auto_enabled } else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) { && fabsf(_param_fw_flaps_scl.get()) > 0.01f) {