fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 05:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

implemented runway takeoff for fw

Browse Source
This commit is contained in:
tumbili
2015-11-17 22:28:07 +01:00
committed by Roman
parent ee4249f30f
commit f43d50fbc9
3 changed files with 150 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
+8
View File
@@ -811,6 +811,7 @@ FixedwingAttitudeControl::task_main()
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float yaw_sp = 0.0f;
float yaw_manual = 0.0f;
float throttle_sp = 0.0f;
@@ -824,6 +825,7 @@ FixedwingAttitudeControl::task_main()
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
yaw_sp = _att_sp.yaw_body;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
@@ -952,12 +954,18 @@ FixedwingAttitudeControl::task_main()
control_input.acc_body_z = _accel.z;
control_input.roll_setpoint = roll_sp;
control_input.pitch_setpoint = pitch_sp;
control_input.yaw_setpoint = yaw_sp;
control_input.airspeed_min = _parameters.airspeed_min;
control_input.airspeed_max = _parameters.airspeed_max;
control_input.airspeed = airspeed;
control_input.scaler = airspeed_scaling;
control_input.lock_integrator = lock_integrator;
if (_att_sp.fw_control_yaw == true) {
// this method controls heading directly with rudder. Used for auto takeoff on runway
_yaw_ctrl.set_coordinated_method(ECL_YawController::COORD_METHOD_HEADING);
}
/* Run attitude controllers */
if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
_roll_ctrl.control_attitude(control_input);