diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 21 |
1 files changed, 15 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 b040fb5df..ab6c1415a 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -170,6 +170,8 @@ private: float trim_roll; float trim_pitch; float trim_yaw; + float rollsp_offset; + float pitchsp_offset; } _parameters; /**< local copies of interesting parameters */ @@ -206,6 +208,8 @@ private: param_t trim_roll; param_t trim_pitch; param_t trim_yaw; + param_t rollsp_offset; + param_t pitchsp_offset; } _parameter_handles; /**< handles for interesting parameters */ @@ -347,6 +351,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.trim_roll = param_find("TRIM_ROLL"); _parameter_handles.trim_pitch = param_find("TRIM_PITCH"); _parameter_handles.trim_yaw = param_find("TRIM_YAW"); + _parameter_handles.rollsp_offset = param_find("FW_RSP_OFF"); + _parameter_handles.pitchsp_offset = param_find("FW_PSP_OFF"); /* fetch initial parameter values */ parameters_update(); @@ -411,6 +417,9 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll)); param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch)); param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw)); + param_get(_parameter_handles.rollsp_offset, &(_parameters.rollsp_offset)); + param_get(_parameter_handles.pitchsp_offset, &(_parameters.pitchsp_offset)); + /* pitch control parameters */ _pitch_ctrl.set_time_constant(_parameters.tconst); @@ -665,13 +674,13 @@ FixedwingAttitudeControl::task_main() float airspeed_scaling = _parameters.airspeed_trim / airspeed; //warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling); - float roll_sp = 0.0f; - float pitch_sp = 0.0f; + float roll_sp = _parameters.rollsp_offset; + float pitch_sp = _parameters.pitchsp_offset; float throttle_sp = 0.0f; if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) { - roll_sp = _att_sp.roll_body; - pitch_sp = _att_sp.pitch_body; + roll_sp = _att_sp.roll_body + _parameters.rollsp_offset; + pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset; throttle_sp = _att_sp.thrust; /* reset integrals where needed */ @@ -692,8 +701,8 @@ FixedwingAttitudeControl::task_main() * the intended attitude setpoint. Later, after the rate control step the * trim is added again to the control signal. */ - roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f; - pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f; + roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset; + pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset; throttle_sp = _manual.throttle; _actuators.control[4] = _manual.flaps; |