diff options
| author | Julian Oes <joes@student.ethz.ch> | 2013-02-22 19:46:47 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-02-22 19:46:47 -0800 |
| commit | 0eca49a4f6d4a06868770c8b0c36094d889cb846 (patch) | |
| tree | 4a7ba0faccf1c704a08d490606971fd5086b1e96 /apps/multirotor_att_control/multirotor_att_control_main.c | |
| parent | f731b6f4e5b009cf12d66c9ff2f5bbed47ca14af (diff) | |
| download | px4-firmware-0eca49a4f6d4a06868770c8b0c36094d889cb846.tar.gz px4-firmware-0eca49a4f6d4a06868770c8b0c36094d889cb846.tar.bz2 px4-firmware-0eca49a4f6d4a06868770c8b0c36094d889cb846.zip | |
Checkpoint: Separated all bools in vehicle status into conditions and flags, they should be protected
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index da7550f79..79ca9fe2d 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -247,7 +247,7 @@ mc_thread_main(int argc, char *argv[]) /* initialize to current yaw if switching to manual or att control */ if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || state.flag_control_manual_enabled != flag_control_manual_enabled || - state.flag_system_armed != flag_system_armed) { + state.flag_fmu_armed != flag_system_armed) { att_sp.yaw_body = att.yaw; } @@ -291,7 +291,7 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = manual.pitch; /* set attitude if arming */ - if (!flag_control_attitude_enabled && state.flag_system_armed) { + if (!flag_control_attitude_enabled && state.flag_fmu_armed) { att_sp.yaw_body = att.yaw; } @@ -395,7 +395,8 @@ mc_thread_main(int argc, char *argv[]) /* update state */ flag_control_attitude_enabled = state.flag_control_attitude_enabled; flag_control_manual_enabled = state.flag_control_manual_enabled; - flag_system_armed = state.flag_system_armed; + flag_system_armed = state.flag_fmu_armed; + // XXX add some logic to this perf_end(mc_loop_perf); } /* end of poll call for attitude updates */ |