diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-11 17:55:05 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-11 17:55:05 +0100 |
| commit | 403874d313464c72da309483e6e8271e9c70f965 (patch) | |
| tree | b9d21898f99feb4f9d71e752d24aacd425e34b6f | |
| parent | 60198e3a2da7c5507abcab7a3d032858691d024a (diff) | |
| download | px4-firmware-403874d313464c72da309483e6e8271e9c70f965.tar.gz px4-firmware-403874d313464c72da309483e6e8271e9c70f965.tar.bz2 px4-firmware-403874d313464c72da309483e6e8271e9c70f965.zip | |
change sign of elevator in mixer to match standard convention (positive --> more lift)
| -rw-r--r-- | ROMFS/mixers/FMU_AERT.mix | 4 | ||||
| -rw-r--r-- | ROMFS/mixers/FMU_AET.mix | 4 | ||||
| -rw-r--r-- | ROMFS/mixers/FMU_RET.mix | 4 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 2 |
4 files changed, 7 insertions, 7 deletions
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix index d7e317e13..75e82bb00 100644 --- a/ROMFS/mixers/FMU_AERT.mix +++ b/ROMFS/mixers/FMU_AERT.mix @@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 Rudder mixer ------------ diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix index bd7056f7c..20cb88b91 100644 --- a/ROMFS/mixers/FMU_AET.mix +++ b/ROMFS/mixers/FMU_AET.mix @@ -39,8 +39,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 Output 2 -------- diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix index 156fcb129..95beb8927 100644 --- a/ROMFS/mixers/FMU_RET.mix +++ b/ROMFS/mixers/FMU_RET.mix @@ -32,8 +32,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 Output 2 -------- diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 567f03784..b81d50168 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -171,7 +171,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... + actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now counter++; |