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FwAutoTrim: only use auto-trim values if enabled

This commit is contained in:
bresch 2024-03-04 16:14:52 +01:00 committed by Silvan Fuhrer
parent 6fc91f9a76
commit a86b9fc6c9
2 changed files with 12 additions and 1 deletions
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11
src/modules/fw_rate_control/fw_trim/FwTrim.cpp
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@ -95,6 +95,17 @@ void FwTrim::updateAutoTrim(const Vector3f &torque_sp, const float dt)
_auto_trim.update(torque_sp - _parameterized_trim, dt);
}
Vector3f FwTrim::getTrim() const
{
Vector3f trim = _parameterized_trim;
if (_param_fw_atrim_mode.get() > 0) {
trim += _auto_trim.getTrim();
}
return trim;
}
void FwTrim::setAirspeed(const float airspeed)
{
_airspeed = airspeed;

2
src/modules/fw_rate_control/fw_trim/FwTrim.hpp
View File

@ -55,7 +55,7 @@ public:
void reset();
void setAirspeed(float airspeed);
void updateAutoTrim(const matrix::Vector3f &torque_sp, float dt);
matrix::Vector3f getTrim() const { return _parameterized_trim + _auto_trim.getTrim(); }
matrix::Vector3f getTrim() const;
int print_status();
protected: