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wheel controller remove from ecl 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-10-23 20:09:01 +02:00
parent 00f5bba5e0
commit b1317daa9c
1 changed files with 4 additions and 3 deletions
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7
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -349,7 +349,7 @@ void FixedwingAttitudeControl::Run()
euler_angles.theta(), get_airspeed_constrained());
if (wheel_control) {
_wheel_ctrl.control_attitude(dt, control_input);
_wheel_ctrl.control_attitude(_att_sp.yaw_body, euler_angles.psi());
} else {
_wheel_ctrl.reset_integrator();
@ -407,8 +407,9 @@ void FixedwingAttitudeControl::Run()
// XXX: yaw_sp_move_rate here is an abuse -- used to ferry manual yaw inputs from
// position controller during auto modes _manual_control_setpoint.r gets passed
// whenever nudging is enabled, otherwise zero
wheel_u = wheel_control ? _wheel_ctrl.control_bodyrate(dt, control_input)
+ _att_sp.yaw_sp_move_rate : 0.f;
const float wheel_controller_output = _wheel_ctrl.control_bodyrate(dt, euler_angles.psi(), _groundspeed,
groundspeed_scale);
wheel_u = wheel_control ? wheel_controller_output + _att_sp.yaw_sp_move_rate : 0.f;
}
_landing_gear_wheel.normalized_wheel_setpoint = PX4_ISFINITE(wheel_u) ? wheel_u : 0.f;