Merged fixed wing branches

3 files changed, 9 insertions, 11 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index a3c7df69d..d27f50b43 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -146,6 +146,7 @@ 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) */
 
 	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
@@ -156,7 +157,9 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 
 	/* 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 e1776f74a..8773db9b6 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -142,8 +142,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		memset(&manual_sp, 0, sizeof(manual_sp));
 		struct vehicle_status_s vstatus;
 		memset(&vstatus, 0, sizeof(vstatus));
-		struct debug_key_value_s debug_output;
-		memset(&debug_output, 0, sizeof(debug_output));
 
 		/* output structs */
 		struct actuator_controls_s actuators;
@@ -156,8 +154,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		}
 		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 		orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
-		strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
 
 		/* subscribe */
 		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -259,7 +255,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				/* pass through throttle */
 				actuators.control[3] = att_sp.thrust;
 
-
 			} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
 				/* directly pass through values */
 				actuators.control[0] = manual_sp.roll;
@@ -269,10 +264,11 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				actuators.control[3] = manual_sp.throttle;
 			}
 
-			/* publish output */
+			/* publish rates */
+			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+
+			/* publish actuator outputs */
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-			debug_output.value = rates_sp.yaw;
-			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 		}
 
 		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 0bb54624f..e8277f3de 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -169,9 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 
-	/* Roll Rate (PI) */
+	/* roll rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
-
 	/* pitch rate (PI) */
 	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
 	/* yaw rate (PI) */