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Flipped simple mode pitch/throttle channel input.

This commit is contained in:
jgoppert 2013-03-18 15:18:08 -04:00
parent 3c6fbeb1a0
commit 90f9b154eb
1 changed files with 4 additions and 4 deletions
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8
apps/controllib/fixedwing.cpp
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@ -282,19 +282,19 @@ void BlockMultiModeBacksideAutopilot::update()
// calculate velocity, XXX should be airspeed, but using ground speed for now
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
// throttle channel -> rate of climb
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding
// from +1 -> -1 m/s for rate of climb
//float dThrottle = _roc2Thr.update(
//_rocMax.get()*_manual.throttle - _pos.vz);
//_rocMax.get()*_manual.pitch - _pos.vz);
// roll channel -> bank angle
float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
float pCmd = _phi2P.update(phiCmd - _att.roll);
// pitch channel -> velocity
// throttle channel -> velocity
// negative sign because nose over to increase speed
float vCmd = _manual.pitch * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);