fix both guidance

paparazzi · Sep 28, 2023 · c83fa94 · c83fa94
1 parent 45a43d2
commit c83fa94
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
@@ -256,7 +256,11 @@ struct StabilizationSetpoint guidance_indi_run(struct FloatVect3 *accel_sp, floa
   //Calculate roll,pitch and thrust command
   MAT33_VECT3_MUL(control_increment, Ga_inv, a_diff);
 
-  AbiSendMsgTHRUST(THRUST_INCREMENT_ID, control_increment.z);
+  struct FloatVect3 thrust_vect;
+  thrust_vect.x = 0.0;  // Fill for quadplanes
+  thrust_vect.y = 0.0;
+  thrust_vect.z = control_increment.z;
+  AbiSendMsgTHRUST(THRUST_INCREMENT_ID, thrust_vect);
 
   guidance_euler_cmd.theta = pitch_filt.o[0] + control_increment.x;
   guidance_euler_cmd.phi = roll_filt.o[0] + control_increment.y;

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
@@ -316,11 +316,7 @@ struct StabilizationSetpoint guidance_indi_run(struct FloatVect3 *accel_sp, floa
   MAT33_VECT3_MUL(euler_cmd, Ga_inv, a_diff);
 
   struct FloatVect3 thrust_vect;
-  #if GUIDANCE_INDI_QUADPLANE
-    thrust_vect.x = guidance_indi_du[3];
-  #else
-    thrust_vect.x = 0.0;
-  #endif
+  thrust_vect.x = 0.0;  // Fill for quadplanes
   thrust_vect.y = 0.0;
   thrust_vect.z = euler_cmd.z;
   AbiSendMsgTHRUST(THRUST_INCREMENT_ID, thrust_vect);