diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 4 |
1 files changed, 3 insertions, 1 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 defcff8e4..d9425f2bb 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -176,7 +176,7 @@ private: bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode" unsigned _motor_count; // number of motors float _airspeed_tot; - + float _tilt_control; //*****************Member functions*********************************************************************** void task_main(); //main task @@ -241,6 +241,7 @@ VtolAttitudeControl::VtolAttitudeControl() : flag_idle_mc = true; _airspeed_tot = 0.0f; + _tilt_control = 0.0f; memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status)); _vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/ @@ -521,6 +522,7 @@ void VtolAttitudeControl::fill_mc_att_control_output() //set neutral position for elevons _actuators_out_1.control[0] = _actuators_mc_in.control[2]; //roll elevon _actuators_out_1.control[1] = _actuators_mc_in.control[1];; //pitch elevon + _actuators_out_1.control[4] = _tilt_control; // for tilt-rotor control } /** |