9 changes: 5 additions & 4 deletions conf/airframes/tudelft/rot_wing_25kg.xml
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Expand Up @@ -20,10 +20,11 @@
<module name="flight_recorder"/>

<!-- RC switches -->
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_FMODE" value="RADIO_AUX2"/>
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/>
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_FMODE" value="RADIO_AUX2"/>
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/>
<define name="RADIO_CONTROL_THRUST_X" value="RADIO_AUX4"/>

<!-- EKF2 configure inputs -->
<define name="INS_EKF2_GYRO_ID" value="IMU_CUBE1_ID"/>
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5 changes: 5 additions & 0 deletions sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
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Expand Up @@ -298,6 +298,11 @@ void guidance_h_run(bool in_flight)
if ((!(guidance_h.mode == GUIDANCE_H_MODE_FORWARD)) && transition_percentage > 0) {
transition_run(false);
}

#ifdef COMMAND_THRUST_X
stabilization_cmd[COMMAND_THRUST_X] = radio_control.values[RADIO_CONTROL_THRUST_X];
#endif

stabilization_attitude_run(in_flight);
#if (STABILIZATION_FILTER_CMD_ROLL_PITCH || STABILIZATION_FILTER_CMD_YAW)
if (in_flight) {
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3 changes: 0 additions & 3 deletions sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
View file
Expand Up @@ -233,9 +233,6 @@ void guidance_v_run(bool in_flight)
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:
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5 changes: 5 additions & 0 deletions sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
View file
Expand Up @@ -87,10 +87,15 @@
#endif
#endif

#ifdef SetCommandsFromRC
#warning SetCommandsFromRC not used: STAB_INDI writes actuators directly
#endif

#ifdef SetAutoCommandsFromRC
#warning SetAutoCommandsFromRC not used: STAB_INDI writes actuators directly
#endif


#if !STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
#if INDI_NUM_ACT > WLS_N_U
#error Matrix-WLS_N_U too small or not defined: define WLS_N_U >= INDI_NUM_ACT in airframe file
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