From 3c7c08d16f30fee66a26ad825959bba41ecb11c8 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Tue, 15 Oct 2013 17:24:12 +0200 Subject: [PATCH] [rotorcraft][guidance_h] GUIDANCE_H_USE_SPEED_REF defaults to TRUE This also allows to give velocity commands via RC in GUIDANCE_H_MODE_HOVER. --- sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c | 1 + sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h | 8 ++++++++ 2 files changed, 9 insertions(+) diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c index 4f48097d9f..05203d98c3 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c @@ -57,6 +57,7 @@ #endif PRINT_CONFIG_VAR(GUIDANCE_H_USE_REF) +PRINT_CONFIG_VAR(GUIDANCE_H_USE_SPEED_REF) #ifndef GUIDANCE_H_APPROX_FORCE_BY_THRUST #define GUIDANCE_H_APPROX_FORCE_BY_THRUST FALSE diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h index f8a934ce43..151bc5043c 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h @@ -41,6 +41,14 @@ #define GUIDANCE_H_USE_REF TRUE #endif +/** Use horizontal guidance speed reference. + * This also allows to give velocity commands via RC in GUIDANCE_H_MODE_HOVER. + * Default is TRUE, define to FALSE to always disable it. + */ +#ifndef GUIDANCE_H_USE_SPEED_REF +#define GUIDANCE_H_USE_SPEED_REF TRUE +#endif + #define GUIDANCE_H_MODE_KILL 0 #define GUIDANCE_H_MODE_RATE 1 #define GUIDANCE_H_MODE_ATTITUDE 2