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vtol_att_control: standard: also do blending for FW controls 

So that the sum of the control is always 1.
This commit is contained in:
Beat Küng 2022-09-20 13:16:05 +02:00 committed by Silvan Fuhrer
parent 6db92b4011
commit 04b1cbb423
1 changed files with 3 additions and 3 deletions
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6
src/modules/vtol_att_control/standard.cpp
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@ -369,9 +369,9 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
// FW out = FW in, with VTOL transition controlling throttle and airbrakes
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW];
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL] * (1.f - _mc_roll_weight);
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH] * (1.f - _mc_pitch_weight);
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW] * (1.f - _mc_yaw_weight);
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();