Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[RELEASE/1.15] Fixedwing: fix wheel controller #24169

Merged
merged 1 commit into from
Jan 3, 2025
Merged

[RELEASE/1.15] Fixedwing: fix wheel controller #24169

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -215,9 +215,6 @@ 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
*
Expand Down Expand Up @@ -389,10 +386,13 @@ 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;
}
Expand Down
Loading