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Merge pull request #3439 from PX4/vtol_sitl

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VTOL fixes for SITL
This commit is contained in:
Lorenz Meier 2016-01-05 21:14:34 +01:00
commit e9865071fa
3 changed files with 3 additions and 3 deletions
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2
Tools/sitl_gazebo

@ -1 +1 @@
Subproject commit 03a749a3b3238c014329e9e8da57d102ede6f4f0
Subproject commit d5e14db741e2cf26b406ca12071f8bb91150d536

2
posix-configs/SITL/init/rcS_gazebo_tailsitter
View File

@ -52,6 +52,7 @@ fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@ -61,4 +62,3 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a

2
src/modules/vtol_att_control/tailsitter.cpp
View File

@ -129,7 +129,7 @@ void Tailsitter::update_vtol_state()
* For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
*/
if (_manual_control_sp->aux1 < 0.0f) {
if (!_attc->is_fixed_wing_requested()) {
switch (_vtol_schedule.flight_mode) { // user switchig to MC mode