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| author | James Goppert <jgoppert@l1.(none)> | 2013-04-14 20:09:38 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-05-08 13:51:34 -0400 |
| commit | 3ed93430060228b64893119a439187725d35d7ec (patch) | |
| tree | 105b045030fe4d9cfe77278cf773ad39fb805011 /apps/controllib/fixedwing.cpp | |
| parent | 078ae23cfa00e2128d08d87dc015a3ca116f342e (diff) | |
| download | px4-firmware-3ed93430060228b64893119a439187725d35d7ec.tar.gz px4-firmware-3ed93430060228b64893119a439187725d35d7ec.tar.bz2 px4-firmware-3ed93430060228b64893119a439187725d35d7ec.zip | |
HIL pressure fix.
Diffstat (limited to 'apps/controllib/fixedwing.cpp')
| -rw-r--r-- | apps/controllib/fixedwing.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 1cc28b9dd..3836a1a0f 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -156,9 +156,9 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _theLimit(this, "THE"), _vLimit(this, "V"), - // altitude/roc hold + // altitude/climb rate hold _h2Thr(this, "H2THR"), - _roc2Thr(this, "ROC2THR"), + _cr2Thr(this, "CR2THR"), // guidance block _guide(this, ""), @@ -170,7 +170,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */ _vCmd(this, "V_CMD"), - _rocMax(this, "ROC_MAX"), + _crMax(this, "CR_MAX"), _attPoll(), _lastPosCmd(), _timeStamp(0) @@ -285,8 +285,8 @@ void BlockMultiModeBacksideAutopilot::update() // pitch channel -> rate of climb // TODO, might want to put a gain on this, otherwise commanding // from +1 -> -1 m/s for rate of climb - //float dThrottle = _roc2Thr.update( - //_rocMax.get()*_manual.pitch - _pos.vz); + //float dThrottle = _cr2Thr.update( + //_crMax.get()*_manual.pitch - _pos.vz); // roll channel -> bank angle float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); |