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fw-att: fix wheel controller

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bresch
2025-01-03 12:26:39 +01:00
committed by Mathieu Bresciani
parent 326d486397
commit 9bf5257e0e
1 changed files with 4 additions and 4 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+4 -4
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@@ -214,9 +214,6 @@ void FixedwingAttitudeControl::Run()
_last_run = time_now_us;
}
vehicle_angular_velocity_s angular_velocity{};
_vehicle_rates_sub.copy(&angular_velocity);
if (_vehicle_status.is_vtol_tailsitter) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
@@ -394,10 +391,13 @@ void FixedwingAttitudeControl::Run()
wheel_u = _manual_control_setpoint.yaw;
} else {
vehicle_angular_velocity_s angular_velocity{};
_vehicle_rates_sub.copy(&angular_velocity);
// 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
const float wheel_controller_output = _wheel_ctrl.control_bodyrate(dt, euler_angles.psi(), _groundspeed,
const float wheel_controller_output = _wheel_ctrl.control_bodyrate(dt, angular_velocity.xyz[2], _groundspeed,
groundspeed_scale);
wheel_u = wheel_control ? wheel_controller_output + _att_sp.yaw_sp_move_rate : 0.f;
}