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FW Attitude Controller: fix manual yaw rate setpoint limit (#22812) 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-02-27 17:23:13 +01:00 committed by GitHub
parent 051baec9c4
commit 086656dc7f
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GPG Key ID: B5690EEEBB952194
2 changed files with 3 additions and 2 deletions
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2
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -361,7 +361,7 @@ void FixedwingAttitudeControl::Run()
/* add yaw rate setpoint from sticks in all attitude-controlled modes */ /* add yaw rate setpoint from sticks in all attitude-controlled modes */
if (_vcontrol_mode.flag_control_manual_enabled) { if (_vcontrol_mode.flag_control_manual_enabled) {
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_fw_y_rmax.get()), body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_man_yr_max.get()),
-radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get())); -radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
} }

3
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
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@ -155,7 +155,8 @@ private:
(ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax, (ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax,
(ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p, (ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p,
(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax (ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax,
(ParamFloat<px4::params::FW_MAN_YR_MAX>) _param_man_yr_max
) )