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| author | Roman Bapst <romanbapst@yahoo.de> | 2015-04-21 12:36:46 +0200 |
|---|---|---|
| committer | Roman Bapst <romanbapst@yahoo.de> | 2015-04-21 13:22:57 +0200 |
| commit | 15f11ae1e231422cd57cc65cdf89ad714f8a6ed4 (patch) | |
| tree | 172f5158954019c892ec22e58be6d1576ea01971 | |
| parent | 05847fd4c7049f09ff6e72a32f10074129f0235f (diff) | |
| download | px4-firmware-15f11ae1e231422cd57cc65cdf89ad714f8a6ed4.tar.gz px4-firmware-15f11ae1e231422cd57cc65cdf89ad714f8a6ed4.tar.bz2 px4-firmware-15f11ae1e231422cd57cc65cdf89ad714f8a6ed4.zip | |
add control output for tilting rotors
| -rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index defcff8e4..d9425f2bb 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -176,7 +176,7 @@ private: bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode" unsigned _motor_count; // number of motors float _airspeed_tot; - + float _tilt_control; //*****************Member functions*********************************************************************** void task_main(); //main task @@ -241,6 +241,7 @@ VtolAttitudeControl::VtolAttitudeControl() : flag_idle_mc = true; _airspeed_tot = 0.0f; + _tilt_control = 0.0f; memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status)); _vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/ @@ -521,6 +522,7 @@ void VtolAttitudeControl::fill_mc_att_control_output() //set neutral position for elevons _actuators_out_1.control[0] = _actuators_mc_in.control[2]; //roll elevon _actuators_out_1.control[1] = _actuators_mc_in.control[1];; //pitch elevon + _actuators_out_1.control[4] = _tilt_control; // for tilt-rotor control } /** |