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| author | James Goppert <james.goppert@gmail.com> | 2014-03-16 18:35:26 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2014-03-20 12:12:42 -0400 |
| commit | eaef67f21df3d38a6523a79bb966fe62d44092ae (patch) | |
| tree | 5c30169c8324f862bb56b6eda4711fe7cd69059a /src/modules/fixedwing_backside | |
| parent | 8f0b223c874b33bf09a8ceebcaf40cd60ee3800d (diff) | |
| download | px4-firmware-eaef67f21df3d38a6523a79bb966fe62d44092ae.tar.gz px4-firmware-eaef67f21df3d38a6523a79bb966fe62d44092ae.tar.bz2 px4-firmware-eaef67f21df3d38a6523a79bb966fe62d44092ae.zip | |
Added encoder uORB message/ fixedwing_backside working if enabled.
Diffstat (limited to 'src/modules/fixedwing_backside')
| -rw-r--r-- | src/modules/fixedwing_backside/fixedwing.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index f7c0b6148..cfae07275 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); @@ -237,7 +237,7 @@ 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)); // pitch channel -> rate of climb |