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[rotorcraft][guidance_h] GUIDANCE_H_USE_SPEED_REF defaults to TRUE

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This also allows to give velocity commands via RC in GUIDANCE_H_MODE_HOVER.
This commit is contained in:
Felix Ruess
2013-10-15 17:24:12 +02:00
parent cd86acde78
commit 3c7c08d16f
2 changed files with 9 additions and 0 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+1
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@@ -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
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+8
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@@ -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