diff options
| -rw-r--r-- | apps/controllib/fixedwing.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 3f9a70c5f..bbf87533e 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -282,19 +282,19 @@ void BlockMultiModeBacksideAutopilot::update() // calculate velocity, XXX should be airspeed, but using ground speed for now float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz); - // throttle channel -> rate of climb + // pitch channel -> rate of climb // TODO, might want to put a gain on this, otherwise commanding // from +1 -> -1 m/s for rate of climb //float dThrottle = _roc2Thr.update( - //_rocMax.get()*_manual.throttle - _pos.vz); + //_rocMax.get()*_manual.pitch - _pos.vz); // roll channel -> bank angle float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); float pCmd = _phi2P.update(phiCmd - _att.roll); - // pitch channel -> velocity + // throttle channel -> velocity // negative sign because nose over to increase speed - float vCmd = _manual.pitch * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin(); + float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin(); float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v)); float qCmd = _theta2Q.update(thetaCmd - _att.pitch); |