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Code Issues Releases Activity

GCS Control Gadget: After double checks on actual quad, correct pitch sign now implemented.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2266 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-12-21 20:05:56 +00:00 committed by edouard
parent 390a355c57
commit da3d4cdab8
1 changed files with 8 additions and 8 deletions
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16
ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
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@ -96,19 +96,19 @@ void GCSControlGadget::manualControlCommandUpdated(UAVObject * obj) {
switch (controlsMode) {
case 1:
// Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
emit sticksChangedRemotely(yaw,pitch,roll,throttle);
emit sticksChangedRemotely(yaw,-pitch,roll,throttle);
break;
case 2:
// Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
emit sticksChangedRemotely(yaw,throttle,roll,pitch);
emit sticksChangedRemotely(yaw,throttle,roll,-pitch);
break;
case 3:
// Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
emit sticksChangedRemotely(roll,pitch,yaw,throttle);
emit sticksChangedRemotely(roll,-pitch,yaw,throttle);
break;
case 4:
// Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
emit sticksChangedRemotely(roll,throttle,yaw,pitch);
emit sticksChangedRemotely(roll,throttle,yaw,-pitch);
break;
}
}
@ -133,28 +133,28 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
case 1:
// Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
newRoll = rightX;
newPitch = leftY;
newPitch = -leftY;
newYaw = leftX;
newThrottle = rightY;
break;
case 2:
// Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
newRoll = rightX;
newPitch = rightY;
newPitch = -rightY;
newYaw = leftX;
newThrottle = leftY;
break;
case 3:
// Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
newRoll = leftX;
newPitch = leftY;
newPitch = -leftY;
newYaw = rightX;
newThrottle = rightY;
break;
case 4:
// Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
newRoll = leftX;
newPitch = rightY;
newPitch = -rightY;
newYaw = rightX;
newThrottle = leftY;
break;