No ABI but a WEAK function for the LIFT_D

paparazzi · Sep 30, 2023 · 2b7d372 · 2b7d372
1 parent 520ad76
commit 2b7d372
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing_v3b.c b/sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing_v3b.c
@@ -390,6 +390,8 @@ void schedule_pitch_priority_factor(float wing_rot_deg)
   pitch_priority_factor = scheduled_pitch_priority;
 }
 
+float ctrl_eff_sched_rot_wing_lift_d = 0.0f;
+
 void schedule_liftd(float *airspeed2, float *sinr2, float wing_rot_deg)
 {
   float bounded_airspeed2 = *airspeed2;
@@ -403,9 +405,15 @@ void schedule_liftd(float *airspeed2, float *sinr2, float wing_rot_deg)
     lift_d = 0.0;
   }
   Bound(lift_d, -130., 0.);
-  AbiSendMsgLIFT_D(LIFT_D_SCHED_ID, lift_d);
+  ctrl_eff_sched_rot_wing_lift_d = lift_d;
+}
+
+// Override standard LIFT_D function
+float guidance_indi_get_liftd(float pitch, float theta) {
+  return ctrl_eff_sched_rot_wing_lift_d;
 }
 
+
 void schedule_wls_guidance(void)
 {
   // Set weights