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allow scaling controls in full manual mode for fixed wings

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tumbili
2016-07-13 09:29:12 +02:00
committed by Andreas Antener
parent 784883af22
commit f0dd5a103c
1 changed files with 16 additions and 3 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+16 -3
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@@ -209,6 +209,9 @@ private:
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
float man_yaw_scale; /**< scale factor applied to yaw actuator control in pure manual mode */
float flaps_scale; /**< Scale factor for flaps */
float flaperon_scale; /**< Scale factor for flaperons */
@@ -257,6 +260,9 @@ private:
param_t pitchsp_offset_deg;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_roll_scale;
param_t man_pitch_scale;
param_t man_yaw_scale;
param_t flaps_scale;
param_t flaperon_scale;
@@ -444,6 +450,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.man_roll_scale = param_find("FW_MAN_R_SC");
_parameter_handles.man_pitch_scale = param_find("FW_MAN_P_SC");
_parameter_handles.man_yaw_scale = param_find("FW_MAN_Y_SC");
_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
@@ -532,6 +541,9 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));
param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
@@ -1243,9 +1255,10 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
_parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}