diff options
author | Julian Oes <joes@student.ethz.ch> | 2012-09-25 21:35:02 +0200 |
---|---|---|
committer | Julian Oes <joes@student.ethz.ch> | 2012-09-25 21:35:02 +0200 |
commit | abbe998506e4ba49bbf6a9a9ae731b1eec521db6 (patch) | |
tree | 181fb20a6d091e2c516bb0b8409571093bdac7d1 /apps/ardrone_interface/ardrone_interface.c | |
parent | 0eae48d480edae2f22fc1f486f26609a49c9d69e (diff) | |
download | px4-firmware-abbe998506e4ba49bbf6a9a9ae731b1eec521db6.tar.gz px4-firmware-abbe998506e4ba49bbf6a9a9ae731b1eec521db6.tar.bz2 px4-firmware-abbe998506e4ba49bbf6a9a9ae731b1eec521db6.zip |
ardrone in the air again (workaround: rate controller disabled)
Diffstat (limited to 'apps/ardrone_interface/ardrone_interface.c')
-rw-r--r-- | apps/ardrone_interface/ardrone_interface.c | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c index 8d77e7502..f12f9cb47 100644 --- a/apps/ardrone_interface/ardrone_interface.c +++ b/apps/ardrone_interface/ardrone_interface.c @@ -239,14 +239,15 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* declare and safely initialize all structs */ struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); + //memset(&state, 0, sizeof(state)); struct actuator_controls_s actuator_controls; - memset(&actuator_controls, 0, sizeof(actuator_controls)); + //memset(&actuator_controls, 0, sizeof(actuator_controls)); struct actuator_armed_s armed; armed.armed = false; /* subscribe to attitude, motor setpoints and system state */ int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); @@ -328,7 +329,13 @@ int ardrone_interface_thread_main(int argc, char *argv[]) * if in failsafe */ if (armed.armed && !armed.lockdown) { + + + + //printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]); + ardrone_mixing_and_output(ardrone_write, &actuator_controls); + } else { /* Silently lock down motor speeds to zero */ ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); |