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px4-firmware
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minor fixes

This commit is contained in:
tumbili 2015-10-14 11:06:10 +02:00 committed by Roman
parent f3e0d91f24
commit b30091be00
3 changed files with 8 additions and 8 deletions
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2
ROMFS/px4fmu_common/init.d/2105_maja
View File

@ -42,7 +42,7 @@ fi
set MIXER AERTW
# use PWM parameters for throttle channel
set PWM_OUT 4
set PWM_OUT 5
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX

8
ROMFS/px4fmu_common/mixers/AERTW.main.mix
View File

@ -83,14 +83,14 @@ Gimbal / flaps / payload mixer for last three channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000

6
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -421,7 +421,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERONS_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
_parameter_handles.vtol_type = param_find("VT_TYPE");
@ -823,7 +823,7 @@ FixedwingAttitudeControl::task_main()
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled) {
flaps_control = _manual.flaps * _parameters.flaps_scale;
flaps_control = 0.5f * (_manual.flaps + 1.0f ) * _parameters.flaps_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
flaps_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
}
@ -833,7 +833,7 @@ FixedwingAttitudeControl::task_main()
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled) {
flaperon = _manual.aux2 * _parameters.flaperon_scale;
flaperon = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
flaperon = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
}