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| author | James Goppert <jgoppert@l1.(none)> | 2013-04-16 14:11:56 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-05-08 13:49:56 -0400 |
| commit | 100bcefc17cb77eff7085ef8c6c3055492c2ae32 (patch) | |
| tree | 506afad6724843250c636f6db2aa89fb557d9627 /apps/controllib/fixedwing.hpp | |
| parent | 078ae23cfa00e2128d08d87dc015a3ca116f342e (diff) | |
| download | px4-firmware-100bcefc17cb77eff7085ef8c6c3055492c2ae32.tar.gz px4-firmware-100bcefc17cb77eff7085ef8c6c3055492c2ae32.tar.bz2 px4-firmware-100bcefc17cb77eff7085ef8c6c3055492c2ae32.zip | |
Added velocity adjustment to stabilization.
Diffstat (limited to 'apps/controllib/fixedwing.hpp')
| -rw-r--r-- | apps/controllib/fixedwing.hpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/apps/controllib/fixedwing.hpp b/apps/controllib/fixedwing.hpp index 281cbb4cb..c908ea237 100644 --- a/apps/controllib/fixedwing.hpp +++ b/apps/controllib/fixedwing.hpp @@ -193,7 +193,7 @@ public: * good idea to declare a member to store the temporary * variable. */ - void update(float rCmd, float r); + void update(float rCmd, float r, float outputScale = 1.0); /** * Rudder output value accessor @@ -226,7 +226,8 @@ public: BlockStabilization(SuperBlock *parent, const char *name); virtual ~BlockStabilization(); void update(float pCmd, float qCmd, float rCmd, - float p, float q, float r); + float p, float q, float r, + float outputScale = 1.0); float getAileron() { return _aileron; } float getElevator() { return _elevator; } float getRudder() { return _yawDamper.getRudder(); } @@ -322,6 +323,7 @@ private: BlockParam<float> _trimElv; BlockParam<float> _trimRdr; BlockParam<float> _trimThr; + BlockParam<float> _trimV; BlockParam<float> _vCmd; BlockParam<float> _rocMax; |