conf/airframes/examples/cube_orange.xml

@@ -89,6 +89,7 @@
     <module name="stabilization" type="indi_simple"/>
     <module name="stabilization" type="rate_indi"/>
     <module name="ins"           type="ekf2"/>
+    <module name="nav"           type="hybrid"/>
 
     <module name="air_data"/>
 

conf/airframes/tudelft/rot_wing_25kg.xml

@@ -24,6 +24,7 @@
             <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"/>
@@ -156,11 +157,6 @@
     </commands>
 
 
-    <auto_rc_commands>
-        <set VALUE="@AUX4" COMMAND="THRUST_X"/>
-    </auto_rc_commands>
-
-
     <command_laws>
         <let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
         <let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>

conf/conf_tests.xml

@@ -7,7 +7,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
   />
   <aircraft

conf/modules/nav_hybrid.xml

@@ -20,7 +20,7 @@
     <dl_settings>
       <dl_settings NAME="nav_hybrid">
         <dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0"/>
-        <dl_setting var="nav_hover_speed" min="0.1" step="0.1" max="10.0"/>
+        <dl_setting var="nav_goto_speed" min="0.1" step="0.1" max="10.0"/>
         <dl_setting var="nav_max_deceleration_sp" min="0.5" step="0.1" max="10.0" shortname="max_deceleration" param="NAV_HYBRID_MAX_DECELERATION"/>
       </dl_settings>
     </dl_settings>

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c

@@ -88,9 +88,14 @@
 #endif
 
 #ifdef SetCommandsFromRC
-#warning SetCommandsFromRC not used: STAB_INDI overwrites actuators
+#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
@@ -625,6 +630,7 @@ void stabilization_indi_rate_run(struct FloatRates rate_sp, bool in_flight)
       v_thrust.z +=
         (stabilization_cmd[COMMAND_THRUST] - use_increment * actuator_state_filt_vect[i]) * Bwls[3][i];
 #if INDI_OUTPUTS == 5
+      stabilization_cmd[COMMAND_THRUST_X] = radio_control.values[RADIO_CONTROL_THRUST_X];
       v_thrust.x +=
         (stabilization_cmd[COMMAND_THRUST_X] - use_increment * actuator_state_filt_vect[i]) * Bwls[4][i];
 #endif

sw/airborne/modules/nav/nav_rotorcraft_hybrid.h

@@ -33,7 +33,7 @@
 
 // settings
 extern float nav_max_speed;   // max speed in route mode
-extern float nav_hover_speed; // max speed in goto/stay mode
+extern float nav_goto_speed; // max speed in goto/stay mode
 extern float nav_max_deceleration_sp;
 
 extern void nav_rotorcraft_hybrid_init(void);