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Output flaps in all flight modes

This commit is contained in:
Lorenz Meier 2015-07-04 11:59:10 +02:00
parent 134f3d8858
commit 939d475ef2
1 changed files with 13 additions and 6 deletions
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19
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -803,6 +803,14 @@ FixedwingAttitudeControl::task_main()
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* default flaps to center */
float flaps_control = 0.0f;
/* map flaps by default to manual if valid */
if (isfinite(_manual.flaps)) {
flaps_control = _manual.flaps;
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_attitude_enabled) {
@ -922,7 +930,6 @@ FixedwingAttitudeControl::task_main()
/* allow manual control of rudder deflection */
yaw_manual = _manual.r;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
* in manual mode no external source should / does emit attitude setpoints.
@ -1085,13 +1092,13 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
_actuators.control[0] = _manual.y + _parameters.trim_roll;
_actuators.control[1] = -_manual.x + _parameters.trim_pitch;
_actuators.control[2] = _manual.r + _parameters.trim_yaw;
_actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control;
_actuators.control[5] = _manual.aux1;
_actuators.control[6] = _manual.aux2;
_actuators.control[7] = _manual.aux3;