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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-13 09:28:46 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-13 09:28:46 +0200 |
commit | 8f6cd3a3ae58e1c1190dc8adb5169871b99ce5e9 (patch) | |
tree | 15c234a3c0fd0ec8d5797b43a2f0f45a538fad27 /src/modules/fw_att_control | |
parent | 15699549a21e08e9bf384dba7a1b65d092f1cb9a (diff) | |
parent | 80ecaf7946d39abe44dd3b45590e2c73004b4fda (diff) | |
download | px4-firmware-8f6cd3a3ae58e1c1190dc8adb5169871b99ce5e9.tar.gz px4-firmware-8f6cd3a3ae58e1c1190dc8adb5169871b99ce5e9.tar.bz2 px4-firmware-8f6cd3a3ae58e1c1190dc8adb5169871b99ce5e9.zip |
Merge remote-tracking branch 'upstream/master' into manualcontrolrename
Conflicts:
src/modules/fw_att_control/fw_att_control_main.cpp
Diffstat (limited to 'src/modules/fw_att_control')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 7b2d1e249..1c411fa06 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -706,19 +706,20 @@ FixedwingAttitudeControl::task_main() } else { /* * Scale down roll and pitch as the setpoints are radians - * and a typical remote can only do 45 degrees, the mapping is - * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians. + * and a typical remote can only do around 45 degrees, the mapping is + * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch) * * With this mapping the stick angle is a 1:1 representation of - * the commanded attitude. If more than 45 degrees are desired, - * a scaling parameter can be applied to the remote. + * the commanded attitude. * * The trim gets subtracted here from the manual setpoint to get * the intended attitude setpoint. Later, after the rate control step the * trim is added again to the control signal. */ - roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad; - pitch_sp = (-_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad; + roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) + + _parameters.rollsp_offset_rad; + pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + + _parameters.pitchsp_offset_rad; throttle_sp = _manual.z; _actuators.control[4] = _manual.flaps; |