From dc042ac992d795700d626dba98ef3fd454fc0c8e Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Tue, 7 Nov 2023 10:16:50 +0100
Subject: [PATCH] CommandsFromRC overwritten in INDI (#3162)

* AutoCommandsFromRC overwritten in INDI

fix?

git status

No hidden define but a clear RADIO_CONTROL_THRUST_X

* Let's put it in stabilization and read RC directly after all...
---
 conf/airframes/tudelft/rot_wing_25kg.xml                  | 6 +-----
 .../rotorcraft/stabilization/stabilization_indi.c         | 8 +++++++-
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
index 963ae9021d..a2cf6e55c7 100644
--- a/conf/airframes/tudelft/rot_wing_25kg.xml
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -24,6 +24,7 @@
             <define name="RADIO_KILL_SWITCH"    value="RADIO_AUX1"/>
             <define name="RADIO_FMODE"          value="RADIO_AUX2"/>
             <define name="RADIO_FBW_MODE"       value="RADIO_AUX3"/>
+            <define name="RADIO_CONTROL_THRUST_X" value="RADIO_AUX4"/>
 
             <!-- EKF2 configure inputs -->
             <define name="INS_EKF2_GYRO_ID"     value="IMU_CUBE1_ID"/>
@@ -156,11 +157,6 @@
     </commands>
     
 
-    <auto_rc_commands>
-        <set VALUE="@AUX4" COMMAND="THRUST_X"/>
-    </auto_rc_commands>
-
-
     <command_laws>
         <let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
         <let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index a46ba52f93..c4d1e51524 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -88,9 +88,14 @@
 #endif
 
 #ifdef SetCommandsFromRC
-#warning SetCommandsFromRC not used: STAB_INDI overwrites actuators
+#warning SetCommandsFromRC not used: STAB_INDI writes actuators directly
 #endif
 
+#ifdef SetAutoCommandsFromRC
+#warning SetAutoCommandsFromRC not used: STAB_INDI writes actuators directly
+#endif
+
+
 #if !STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
 #if INDI_NUM_ACT > WLS_N_U
 #error Matrix-WLS_N_U too small or not defined: define WLS_N_U >= INDI_NUM_ACT in airframe file
@@ -625,6 +630,7 @@ void stabilization_indi_rate_run(struct FloatRates rate_sp, bool in_flight)
       v_thrust.z +=
         (stabilization_cmd[COMMAND_THRUST] - use_increment * actuator_state_filt_vect[i]) * Bwls[3][i];
 #if INDI_OUTPUTS == 5
+      stabilization_cmd[COMMAND_THRUST_X] = radio_control.values[RADIO_CONTROL_THRUST_X];
       v_thrust.x +=
         (stabilization_cmd[COMMAND_THRUST_X] - use_increment * actuator_state_filt_vect[i]) * Bwls[4][i];
 #endif