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| author | tnaegeli <naegelit@student.ethz.ch> | 2012-09-18 13:49:18 +0200 |
|---|---|---|
| committer | tnaegeli <naegelit@student.ethz.ch> | 2012-09-18 13:49:18 +0200 |
| commit | df034330340aa1f938adbc1ed8840689ead41d89 (patch) | |
| tree | 1d5c9155c185878e0de3e5c1c5aae345bb96db5c | |
| parent | 5a8dda3343bc35e93015629590ea83bf362c6845 (diff) | |
| download | px4-firmware-df034330340aa1f938adbc1ed8840689ead41d89.tar.gz px4-firmware-df034330340aa1f938adbc1ed8840689ead41d89.tar.bz2 px4-firmware-df034330340aa1f938adbc1ed8840689ead41d89.zip | |
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Signed-off-by: tnaegeli <naegelit@student.ethz.ch>
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 2 | ||||
| -rw-r--r-- | apps/uORB/topics/ardrone_motors_setpoint.h | 14 | ||||
| -rwxr-xr-x | nuttx/configs/px4fmu/nsh/defconfig | 4 |
3 files changed, 10 insertions, 10 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 3fb505174..408f7e390 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -104,7 +104,7 @@ mc_thread_main(int argc, char *argv[]) int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); //int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - // int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint)); + int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint)); /* rate-limit the attitude subscription to 200Hz to pace our loop */ orb_set_interval(att_sub, 5); diff --git a/apps/uORB/topics/ardrone_motors_setpoint.h b/apps/uORB/topics/ardrone_motors_setpoint.h index 54d81b706..d1f42cd2c 100644 --- a/apps/uORB/topics/ardrone_motors_setpoint.h +++ b/apps/uORB/topics/ardrone_motors_setpoint.h @@ -50,14 +50,14 @@ struct ardrone_motors_setpoint_s { - uint16_t counter; //incremented by the writing thread everytime new data is stored uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data - uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration - uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration - uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration - uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration - + uint8_t group; /**< quadrotor group */ + uint8_t mode; /**< requested flight mode XXX define */ + float p1; /**< parameter 1: rate control: roll rate, att control: roll angle (in radians, NED) */ + float p2; /**< parameter 2: rate control: pitch rate, att control: pitch angle (in radians, NED) */ + float p3; /**< parameter 3: rate control: yaw rate, att control: yaw angle (in radians, NED) */ + float p4; /**< parameter 4: thrust, [0..1] */ }; /**< AR.Drone low level motors */ /** @@ -67,4 +67,4 @@ struct ardrone_motors_setpoint_s /* register this as object request broker structure */ ORB_DECLARE(ardrone_motors_setpoint); -#endif +#endif-\ diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index bc1543d56..8d5bbf898 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256 CONFIG_SERIAL_TERMIOS=y CONFIG_SERIAL_CONSOLE_REINIT=y -CONFIG_USART1_SERIAL_CONSOLE=y +CONFIG_USART1_SERIAL_CONSOLE=n CONFIG_USART2_SERIAL_CONSOLE=n CONFIG_USART3_SERIAL_CONSOLE=n CONFIG_UART4_SERIAL_CONSOLE=n -CONFIG_UART5_SERIAL_CONSOLE=n +CONFIG_UART5_SERIAL_CONSOLE=y CONFIG_USART6_SERIAL_CONSOLE=n #Mavlink messages can be bigger than 128 |