wip, minor bugfixes in fw att control

src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp

@@ -90,7 +90,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	float pitch_error = pitch_setpoint - pitch;
 
 	/*  Apply P controller: rate setpoint from current error and time constant */
-	float _rate_setpoint =  pitch_error / _tc;
+	_rate_setpoint =  pitch_error / _tc;
 
 	/* add turn offset */
 	_rate_setpoint += turn_offset;

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -673,7 +673,7 @@ FixedwingAttitudeControl::task_main()
 
 				/* Run attitude controllers */
 				_roll_ctrl.control_attitude(roll_sp, _att.roll);
-				_pitch_ctrl.control_attitude(roll_sp, _att.roll, _att.pitch, airspeed);
+				_pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
 				_yaw_ctrl.control_attitude(_att.roll, _att.pitch,
 						speed_body_u,speed_body_w,
 						_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
@@ -709,9 +709,9 @@ FixedwingAttitudeControl::task_main()
 				 * only once available
 				 */
 				vehicle_rates_setpoint_s rates_sp;
-				rates_sp.roll = _roll_ctrl.get_desired_rate();
-				rates_sp.pitch = _pitch_ctrl.get_desired_rate();
-				rates_sp.yaw = _yaw_ctrl.get_desired_rate();
+				rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
+				rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
+				rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
 
 				rates_sp.timestamp = hrt_absolute_time();
 

src/modules/fw_att_control/fw_att_control_params.c

@@ -44,6 +44,8 @@
 
 #include <systemlib/param/param.h>
 
+//XXX resolve unclear naming of paramters: FW_P_D --> FW_PR_P
+
 /*
  * Controller parameters, accessible via MAVLink
  *
@@ -130,7 +132,7 @@ PARAM_DEFINE_FLOAT(FW_Y_P, 0);
 PARAM_DEFINE_FLOAT(FW_Y_I, 0);
 PARAM_DEFINE_FLOAT(FW_Y_IMAX, 15.0f);
 PARAM_DEFINE_FLOAT(FW_Y_D, 0);
-PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 1);
+PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);