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fw att control: use new manual control setpoint variable names

This commit is contained in:
Thomas Gubler 2014-05-12 09:22:07 +02:00
parent cde4c9addb
commit 3779e216be
1 changed files with 7 additions and 7 deletions
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14
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -717,9 +717,9 @@ FixedwingAttitudeControl::task_main()
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
pitch_sp = (-_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
@ -825,10 +825,10 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
_actuators.control[0] = _manual.roll;
_actuators.control[1] = -_manual.pitch;
_actuators.control[2] = _manual.yaw;
_actuators.control[3] = _manual.throttle;
_actuators.control[0] = _manual.y;
_actuators.control[1] = -_manual.x;
_actuators.control[2] = _manual.r;
_actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
}