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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-27 18:56:45 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-27 18:56:45 +0200 |
| commit | 56f4849e872854e5483bcd1eaf277b9b8bb50a1c (patch) | |
| tree | b22287435fbc15518e21434b7244835085c8b024 /apps/fixedwing_att_control | |
| parent | abcfe29c640315848f5080f57ec4c7117dc3f988 (diff) | |
| download | px4-firmware-56f4849e872854e5483bcd1eaf277b9b8bb50a1c.tar.gz px4-firmware-56f4849e872854e5483bcd1eaf277b9b8bb50a1c.tar.bz2 px4-firmware-56f4849e872854e5483bcd1eaf277b9b8bb50a1c.zip | |
changed headers
Diffstat (limited to 'apps/fixedwing_att_control')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.c | 2 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_main.c | 3 | ||||
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 3 |
3 files changed, 5 insertions, 3 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index b13d564d6..9c784e98e 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -47,7 +47,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 0766a3d40..06890ed8b 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -46,7 +46,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_global_position.h> @@ -194,6 +194,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) actuators.control[i] = 0.0f; + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 959628be9..7c17e70f3 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -47,7 +47,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -178,6 +178,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); } + /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); |