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Take throttle from the appropriate controller given the current mode.

This commit is contained in:
Simon Wilks 2015-08-19 16:24:53 +02:00
parent 5536360c49
commit 22690ce897
1 changed files with 6 additions and 2 deletions
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8
src/modules/vtol_att_control/tiltrotor.cpp
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@ -342,10 +342,14 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
if (_vtol_schedule.flight_mode == FW_MODE) {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
} else {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];;
}
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * (1 - _mc_roll_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = (_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) *(1 - _mc_pitch_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = _actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * (1 - _mc_yaw_weight); // yaw
_actuators_out_1->control[4] = _tilt_control;