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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 00:03:00 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 00:03:00 +0200 |
| commit | b12928548c8254ce305f0d96c1b1007b42005be4 (patch) | |
| tree | 48ee722bdcddb4204b729bb01ea49942e4fcddd5 /src/modules/fixedwing_backside/fixedwing.cpp | |
| parent | b165e6ba2000f89b1220393e469911f3e3a73286 (diff) | |
| parent | b250e28abfaf4d1adc8bdfb815fff369e0e41cc6 (diff) | |
| download | px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.tar.gz px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.tar.bz2 px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.zip | |
Merge branch 'master' into acro2
Diffstat (limited to 'src/modules/fixedwing_backside/fixedwing.cpp')
| -rw-r--r-- | src/modules/fixedwing_backside/fixedwing.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index f7c0b6148..bbb39f20f 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update() // the min/max velocity float v = _vLimit.update(sqrtf( _pos.vel_n * _pos.vel_n + - _pos.vy * _pos.vy + + _pos.vel_e * _pos.vel_e + _pos.vel_d * _pos.vel_d)); // limit velocity command between min/max velocity float vCmd = _vLimit.update(_vCmd.get()); // altitude hold - float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt); + float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt); // heading hold float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); @@ -229,15 +229,15 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.main_state == MAIN_STATE_SEATBELT || - _status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) { + } else if (_status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between // the min/max velocity float v = _vLimit.update(sqrtf( _pos.vel_n * _pos.vel_n + - _pos.vy * _pos.vy + + _pos.vel_e * _pos.vel_e + _pos.vel_d * _pos.vel_d)); // pitch channel -> rate of climb |