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fw att: add acceleration to control_input

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Thomas Gubler 2015-01-04 13:23:17 +01:00 committed by Lorenz Meier
parent d294046245
commit d1e9868b9b
2 changed files with 6 additions and 0 deletions
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3
src/lib/ecl/attitude_fw/ecl_controller.h
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@ -62,6 +62,9 @@ struct ECL_ControlData {
float speed_body_u;
float speed_body_v;
float speed_body_w;
float acc_body_x;
float acc_body_y;
float acc_body_z;
float roll_setpoint;
float pitch_setpoint;
float yaw_setpoint;

3
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -954,6 +954,9 @@ FixedwingAttitudeControl::task_main()
control_input.speed_body_u = speed_body_u;
control_input.speed_body_v = speed_body_v;
control_input.speed_body_w = speed_body_w;
control_input.acc_body_x = _accel.x;
control_input.acc_body_y = _accel.y;
control_input.acc_body_z = _accel.z;
control_input.roll_setpoint = roll_sp;
control_input.pitch_setpoint = pitch_sp;
control_input.airspeed_min = _parameters.airspeed_min;