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Code Issues Releases Activity

OP-1287 fixed handling of pitch and throttle channels from manualcontrolcommand

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This commit is contained in:
Corvus Corax 2014-06-07 15:30:22 +02:00
parent 070672e0f0
commit ae8c22280b
1 changed files with 5 additions and 5 deletions
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10
flight/libraries/plans.c
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@ -290,6 +290,8 @@ static void plan_run_PositionVario(vario_type type)
PositionStateData positionState;
PositionStateGet(&positionState);
// flip pitch to have pitch down (away) point north
controlVector[1] = -controlVector[1];
getVector(controlVector, type);
// layout of control Vector : unitVector in movement direction {0,1,2} vector length {3} velocity {4}
@ -304,11 +306,11 @@ static void plan_run_PositionVario(vario_type type)
// projection using scalar product
float kp = (positionState.North - pathDesired.Start.North) * controlVector[0]
+ (positionState.East - pathDesired.Start.East) * controlVector[1]
+ (positionState.Down - pathDesired.Start.Down) * controlVector[2];
+ (positionState.Down - pathDesired.Start.Down) * -controlVector[2];
if (kp > 0.0f) {
pathDesired.Start.North += kp * controlVector[0];
pathDesired.Start.East += kp * controlVector[1];
pathDesired.Start.Down += kp * controlVector[2];
pathDesired.Start.Down += kp * -controlVector[2];
}
}
pathDesired.End.North = pathDesired.Start.North + controlVector[0] * controlVector[3];
@ -428,9 +430,7 @@ void plan_run_AutoCruise()
// resulting movement vector is scaled by velocity demand in controlvector[3] [0.0-1.0]
vector[0] = cosf(DEG2RAD(angle)) * maxGradient.Distance * controlVector[3];
vector[1] = sinf(DEG2RAD(angle)) * maxGradient.Distance * controlVector[3];
vector[2] = controlVector[1] * maxGradient.Distance * controlVector[3];
// note: no negation in down vector, negative pitch demand actually "pulls
// up", which reduces "down" coordinate as expected by fixed wing pilots
vector[2] = -controlVector[1] * maxGradient.Distance * controlVector[3];
pathDesired.End.North = pathDesired.Start.North + vector[0];
pathDesired.End.East = pathDesired.Start.East + vector[1];