From b30091be00edc5e9994cf12bc08d644d4c0f8d3b Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 14 Oct 2015 11:06:10 +0200 Subject: [PATCH] minor fixes --- ROMFS/px4fmu_common/init.d/2105_maja | 2 +- ROMFS/px4fmu_common/mixers/AERTW.main.mix | 8 ++++---- src/modules/fw_att_control/fw_att_control_main.cpp | 6 +++--- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/2105_maja b/ROMFS/px4fmu_common/init.d/2105_maja index af27eca5d9..2cbc11c275 100644 --- a/ROMFS/px4fmu_common/init.d/2105_maja +++ b/ROMFS/px4fmu_common/init.d/2105_maja @@ -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 diff --git a/ROMFS/px4fmu_common/mixers/AERTW.main.mix b/ROMFS/px4fmu_common/mixers/AERTW.main.mix index a28dd9ec6e..49665c5110 100644 --- a/ROMFS/px4fmu_common/mixers/AERTW.main.mix +++ b/ROMFS/px4fmu_common/mixers/AERTW.main.mix @@ -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 diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 579096268e..7600aca22b 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -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; }