ardrone in the air again (workaround: rate controller disabled)

2 files changed, 15 insertions, 5 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);
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c
index 787db1877..cbf9600a5 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/apps/ardrone_interface/ardrone_motor_control.c
@@ -368,6 +368,8 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	float yaw_control = actuators->control[2];
 	float motor_thrust = actuators->control[3];
 
+	//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
+
 	const float min_thrust = 0.02f;			/**< 2% minimum thrust */
 	const float max_thrust = 1.0f;			/**< 100% max thrust */
 	const float scaling = 512.0f;			/**< 100% thrust equals a value of 512 */
@@ -387,15 +389,16 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	if (motor_thrust <= min_thrust) {
 		motor_thrust = min_thrust;
 		output_band = 0.0f;
-
+		//printf("0 silent\n");
 	} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
 		output_band = band_factor * (motor_thrust - min_thrust);
-
+		//printf("1 starting\n");
 	} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * startpoint_full_control;
-
+		//printf("2 working\n");
 	} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * (max_thrust - motor_thrust);
+		//printf("3 full\n");
 	}
 
 	//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer