diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index c62a2d4f3..9cbc26efe 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1114,7 +1114,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } if (0/* posctrl on and manual control yaw non-zero */) { - _altctrl_hold_heading = _att.yaw + _manual.yaw; + _altctrl_hold_heading = _att.yaw + _manual.r; } //XXX not used @@ -1132,12 +1132,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // XXX check if ground speed undershoot should be applied here float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * - _manual.throttle; + _manual.z; _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, false, _parameters.pitch_limit_min, @@ -1153,7 +1153,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } if (0/* altctrl on and manual control yaw non-zero */) { - _altctrl_hold_heading = _att.yaw + _manual.yaw; + _altctrl_hold_heading = _att.yaw + _manual.r; } /* if in altctrl mode, set airspeed based on manual control */ @@ -1161,10 +1161,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // XXX check if ground speed undershoot should be applied here float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * - _manual.throttle; + _manual.z; /* user switched off throttle */ - if (_manual.throttle < 0.1f) { + if (_manual.z < 0.1f) { throttle_max = 0.0f; /* switch to pure pitch based altitude control, give up speed */ _tecs.set_speed_weight(0.0f); @@ -1174,14 +1174,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi bool climb_out = false; /* user wants to climb out */ - if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) { + if (_manual.x > 0.3f && _manual.z > 0.8f) { climb_out = true; } _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); - _att_sp.roll_body = _manual.roll; - _att_sp.yaw_body = _manual.yaw; - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, + _att_sp.roll_body = _manual.y; + _att_sp.yaw_body = _manual.r; + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, climb_out, _parameters.pitch_limit_min, |