Turned all control outputs into NED frame moments, this is validated in real flight with a correct mixer setup.

apps/controllib/fixedwing.cpp

@@ -322,11 +322,24 @@ void BlockMultiModeBacksideAutopilot::update()
 			_att.roll, _att.pitch, _att.yaw,
 			_att.rollspeed, _att.pitchspeed, _att.yawspeed
 		);
-		_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
-		_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
+		_actuators.control[CH_AIL] = - _backsideAutopilot.getAileron();
+		_actuators.control[CH_ELV] = - _backsideAutopilot.getElevator();
 		_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
 		_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
 
+		// XXX limit throttle to manual setting (safety) for now.
+		// If it turns out to be confusing, it can be removed later once
+		// a first binary release can be targeted.
+		// This is not a hack, but a design choice.
+
+		/* do not limit in HIL */
+		if (!_status.flag_hil_enabled) {
+			/* limit to value of manual throttle */
+			_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
+							_actuators.control[CH_THR] : _manual.throttle;
+		}
+
+
 	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
 
 		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
@@ -337,11 +350,12 @@ void BlockMultiModeBacksideAutopilot::update()
 			_actuators.control[CH_THR] = _manual.throttle;
 
 		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
-			_stabilization.update(
-			_ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw,
+
+			_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
 			_att.rollspeed, _att.pitchspeed, _att.yawspeed);
+
 			_actuators.control[CH_AIL] = _stabilization.getAileron();
-			_actuators.control[CH_ELV] = _stabilization.getElevator();
+			_actuators.control[CH_ELV] = - _stabilization.getElevator();
 			_actuators.control[CH_RDR] = _stabilization.getRudder();
 			_actuators.control[CH_THR] = _manual.throttle;
 		}

apps/fixedwing_att_control/fixedwing_att_control_rate.c

@@ -196,9 +196,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	/* roll rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
 	/* pitch rate (PI) */
-	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
-	/* set pitch minus feedforward throttle compensation (nose pitches up from throttle */
-	actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust;
+	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
 	/* yaw rate (PI) */
 	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);