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Added encoder uORB message/ fixedwing_backside working if enabled.

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This commit is contained in:
James Goppert
2014-03-16 18:35:26 -04:00
parent 8f0b223c87
commit eaef67f21d
5 changed files with 104 additions and 3 deletions
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src/modules/fixedwing_backside/fixedwing.cpp
+3 -3
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@@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update()
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
_pos.vel_e * _pos.vel_e +
_pos.vel_d * _pos.vel_d));
// limit velocity command between min/max velocity
float vCmd = _vLimit.update(_vCmd.get());
// altitude hold
float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt);
float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt);
// heading hold
float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
@@ -237,7 +237,7 @@ void BlockMultiModeBacksideAutopilot::update()
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
_pos.vel_e * _pos.vel_e +
_pos.vel_d * _pos.vel_d));
// pitch channel -> rate of climb