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Merge pull request #225 from PX4/sign_fix 

Fix signs for fixed wing control
This commit is contained in:
Lorenz Meier 2013-03-17 03:16:55 -07:00
parent 0ee5293ceb a0afed400f
commit 002fb1b4ea
4 changed files with 14 additions and 10 deletions
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8
ROMFS/mixers/FMU_Q.mix
View File

@ -25,13 +25,13 @@ for the elevons.
M: 2 M: 2
O: 10000 10000 0 -10000 10000 O: 10000 10000 0 -10000 10000
S: 0 0 -5000 -8000 0 -10000 10000 S: 0 0 5000 8000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000 S: 0 1 8000 8000 0 -10000 10000
M: 2 M: 2
O: 10000 10000 0 -10000 10000 O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -5000 0 -10000 10000 S: 0 0 8000 5000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000 S: 0 1 -8000 -8000 0 -10000 10000
Output 2 Output 2
-------- --------

8
ROMFS/mixers/FMU_X5.mix
View File

@ -23,13 +23,13 @@ for the elevons.
M: 2 M: 2
O: 10000 10000 0 -10000 10000 O: 10000 10000 0 -10000 10000
S: 0 0 3000 5000 0 -10000 10000 S: 0 0 -3000 -5000 0 -10000 10000
S: 0 1 5000 5000 0 -10000 10000 S: 0 1 -5000 -5000 0 -10000 10000
M: 2 M: 2
O: 10000 10000 0 -10000 10000 O: 10000 10000 0 -10000 10000
S: 0 0 5000 3000 0 -10000 10000 S: 0 0 -5000 -3000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000 S: 0 1 5000 5000 0 -10000 10000
Output 2 Output 2
-------- --------

4
apps/controllib/fixedwing.cpp
View File

@ -323,7 +323,7 @@ void BlockMultiModeBacksideAutopilot::update()
_att.rollspeed, _att.pitchspeed, _att.yawspeed _att.rollspeed, _att.pitchspeed, _att.yawspeed
); );
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron(); _actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = - _backsideAutopilot.getElevator(); _actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder(); _actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle(); _actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
@ -355,7 +355,7 @@ void BlockMultiModeBacksideAutopilot::update()
_att.rollspeed, _att.pitchspeed, _att.yawspeed); _att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron(); _actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = - _stabilization.getElevator(); _actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder(); _actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle; _actuators.control[CH_THR] = _manual.throttle;
} }

4
apps/px4io/controls.c
View File

@ -192,6 +192,10 @@ controls_tick() {
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < MAX_CONTROL_CHANNELS); ASSERT(mapped < MAX_CONTROL_CHANNELS);
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled); r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped); assigned_channels |= (1 << mapped);
} }