fw_controller testing

3 files changed, 8 insertions, 7 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 98442ed55..877360c6f 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -146,13 +146,16 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* Roll (P) */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
 
+
 	/* Pitch (P) */
 	float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
 	rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
-			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
+			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
+
+//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
 
 	counter++;
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 658bf3e69..f4efad31d 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -230,8 +230,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				//REMOVEME XXX
 				actuators.control[3] = 0.7f;
 
-	//			debug_output.value = rates_sp.pitch;
-	//			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
+				debug_output.value = rates_sp.pitch;
+				orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 			} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
 				/* directly pass through values */
 				actuators.control[0] = manual_sp.roll;
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 6f3a7f6e8..2bc07a7fc 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -169,10 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* Roll Rate (PI) */
 	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[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
+	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
 
 	counter++;