temple/caero-attitude-control
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maybe fix UpdateGlobalThrust?

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templeofshadow
2026-06-29 21:19:45 -05:00
parent a408dd9f34
commit 0766e4ce5a
1 changed files with 8 additions and 6 deletions
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14
main.lua
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@@ -847,13 +847,15 @@ function UpdateGlobalThrust()
end
local throttleOutput = PIDs.AltitudePID:update(Config.Autopilot.AutopilotDesiredAltitude or 0, SensorData.Altitude.Altitude or 0, dt)
local pitchOutput = PIDs.PitchAttitudePID:update(0, SensorData.Gimbal.Angles.xAngle, dt)
local rollOutput = PIDs.RollAttitudePID:update(0, SensorData.Gimbal.Angles.zAngle, dt)
local yawOutput = PIDs.YawAttitudePID:update(Config.Autopilot.AutopilotDesiredHeading or 0, SensorData.NavTable.Heading, dt)
local pitchRateOutput = PIDs.PitchRatePID:update(Config.Autopilot.AutopilotDesiredPitchRate or 0, SensorData.Gimbal.AngularRates.wx or 0, dt)
local rollRateOutput = PIDs.RollRatePID:update(Config.Autopilot.AutopilotDesiredRollRate or 0, SensorData.Gimbal.AngularRates.wz or 0, dt)
local pitchOutput = PIDs.PitchAttitudePID:update(0, SensorData.Gimbal.Angles.xAngle, dt)
local pitchRateOutput = PIDs.PitchRatePID:update(pitchOutput, SensorData.Gimbal.AngularRates.wx or 0, dt)
local rollOutput = PIDs.RollAttitudePID:update(0, SensorData.Gimbal.Angles.zAngle, dt)
local rollRateOutput = PIDs.RollRatePID:update(rollOutput, SensorData.Gimbal.AngularRates.wz or 0, dt)
local yawOutput = 5
if Config.Autopilot.AutopilotDesiredHeading ~= nil then yawOutput = PIDs.YawAttitudePID:update(Config.Autopilot.AutopilotDesiredHeading, SensorData.NavTable.Heading, dt) end
local yawRateOutput = PIDs.YawRatePID:update(Config.Autopilot.AutopilotDesiredYawRate or 0, SensorData.Gimbal.AngularRates.wy or 0, dt)