AutoCommandsFromRC overwritten in INDI

fix?
paparazzi · Nov 6, 2023 · 6196ab6 · 6196ab6
1 parent 7320b65
commit 6196ab6
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Showing 3 changed files with 9 additions and 5 deletions.
diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -156,9 +156,9 @@
     </commands>
 
 
-    <auto_rc_commands>
-        <set VALUE="@AUX4" COMMAND="THRUST_X"/>
-    </auto_rc_commands>
+    <rc_commands>
+        <set COMMAND="THRUST_X" VALUE="@AUX4"/>
+    </rc_commands>
 
 
     <command_laws>

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -232,6 +232,10 @@ void guidance_v_run(bool in_flight)
     case GUIDANCE_V_MODE_RC_DIRECT:
       guidance_v.z_sp = stateGetPositionNed_i()->z; // for display only
       stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t;
+
+#ifdef SetCommandsFromRC
+      SetCommandsFromRC(stabilization_cmd,radio_control.values);
+#endif
       break;
 
     case GUIDANCE_V_MODE_RC_CLIMB:

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -87,8 +87,8 @@
 #endif
 #endif
 
-#ifdef SetCommandsFromRC
-#warning SetCommandsFromRC not used: STAB_INDI overwrites actuators
+#ifdef SetAutoCommandsFromRC
+#warning SetAutoCommandsFromRC not used: STAB_INDI writes actuators directly
 #endif
 
 #if !STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE