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| author | tumbili <bapstr@ethz.ch> | 2014-12-03 09:47:56 +0100 |
|---|---|---|
| committer | tumbili <bapstr@ethz.ch> | 2014-12-03 09:47:56 +0100 |
| commit | 563de3b49c7e12c9745744b859b5aeedb0535090 (patch) | |
| tree | 6e12f4f5e4ad2200bca60cd43888ca12e5218dd6 /src/modules/vtol_att_control | |
| parent | f7ca1d36d2a35b9781a41ffc40acfb2eaf84544f (diff) | |
| download | px4-firmware-563de3b49c7e12c9745744b859b5aeedb0535090.tar.gz px4-firmware-563de3b49c7e12c9745744b859b5aeedb0535090.tar.bz2 px4-firmware-563de3b49c7e12c9745744b859b5aeedb0535090.zip | |
in fw mode, publish also yaw and throttle on control group 1 for logging
Diffstat (limited to 'src/modules/vtol_att_control')
| -rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 62b6a4ed6..cc3a3665a 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -402,8 +402,11 @@ void VtolAttitudeControl::fill_fw_att_control_output() _actuators_out_0.control[2] = 0; _actuators_out_0.control[3] = _actuators_fw_in.control[3]; /*controls for the elevons */ - _actuators_out_1.control[0] = -_actuators_fw_in.control[0]; /*roll elevon*/ - _actuators_out_1.control[1] = _actuators_fw_in.control[1]; /*pitch elevon */ + _actuators_out_1.control[0] = -_actuators_fw_in.control[0]; // roll elevon + _actuators_out_1.control[1] = _actuators_fw_in.control[1]; // pitch elevon + // unused now but still logged + _actuators_out_1.control[2] = _actuators_fw_in.control[2]; // yaw + _actuators_out_1.control[3] = _actuators_fw_in.control[3]; // throttle } /** |