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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-16 23:41:24 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-16 23:41:24 +0100 |
| commit | a0afed400f129eeb43a0cce124459b9c997fbaa6 (patch) | |
| tree | 230a813816d0763854f15cf66d0863aa9c79b250 /apps | |
| parent | 1b16387a996dcad53c3179b053162f7fee543254 (diff) | |
| download | px4-firmware-a0afed400f129eeb43a0cce124459b9c997fbaa6.tar.gz px4-firmware-a0afed400f129eeb43a0cce124459b9c997fbaa6.tar.bz2 px4-firmware-a0afed400f129eeb43a0cce124459b9c997fbaa6.zip | |
Fix signs for fixed wing control, issue resulted from consistently flipped pitch response for IO and FMU
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/controllib/fixedwing.cpp | 4 | ||||
| -rw-r--r-- | apps/px4io/controls.c | 4 |
2 files changed, 6 insertions, 2 deletions
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index b84a54fee..9ab534522 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -323,7 +323,7 @@ void BlockMultiModeBacksideAutopilot::update() _att.rollspeed, _att.pitchspeed, _att.yawspeed ); _actuators.control[CH_AIL] = _backsideAutopilot.getAileron(); - _actuators.control[CH_ELV] = - _backsideAutopilot.getElevator(); + _actuators.control[CH_ELV] = _backsideAutopilot.getElevator(); _actuators.control[CH_RDR] = _backsideAutopilot.getRudder(); _actuators.control[CH_THR] = _backsideAutopilot.getThrottle(); @@ -355,7 +355,7 @@ void BlockMultiModeBacksideAutopilot::update() _att.rollspeed, _att.pitchspeed, _att.yawspeed); _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = - _stabilization.getElevator(); + _actuators.control[CH_ELV] = _stabilization.getElevator(); _actuators.control[CH_RDR] = _stabilization.getRudder(); _actuators.control[CH_THR] = _manual.throttle; } diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index b507078a1..e80a41f15 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -192,6 +192,10 @@ controls_tick() { unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; ASSERT(mapped < MAX_CONTROL_CHANNELS); + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; + r_rc_values[mapped] = SIGNED_TO_REG(scaled); assigned_channels |= (1 << mapped); } |