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fw att control: manual setpoint: fix comment and trim sign

This commit is contained in:
Thomas Gubler 2014-05-13 08:58:40 +02:00
parent 15e65fda26
commit bafa344dcb
1 changed files with 7 additions and 6 deletions
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13
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -706,19 +706,20 @@ FixedwingAttitudeControl::task_main()
} else {
/*
* Scale down roll and pitch as the setpoints are radians
* and a typical remote can only do 45 degrees, the mapping is
* -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
* and a typical remote can only do around 45 degrees, the mapping is
* -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
*
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude. If more than 45 degrees are desired,
* a scaling parameter can be applied to the remote.
* the commanded attitude.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll)
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
_actuators.control[4] = _manual.flaps;