diff options
author | Julian Oes <joes@student.ethz.ch> | 2012-09-26 10:11:57 +0200 |
---|---|---|
committer | Julian Oes <joes@student.ethz.ch> | 2012-09-26 10:11:57 +0200 |
commit | 201fdbc42c46bc9146a8cbf2434a98792d6d9f50 (patch) | |
tree | ab63df77eff1e20b508c3c4aad40c6911d082a49 /apps/multirotor_att_control/multirotor_att_control_main.c | |
parent | abbe998506e4ba49bbf6a9a9ae731b1eec521db6 (diff) | |
download | px4-firmware-201fdbc42c46bc9146a8cbf2434a98792d6d9f50.tar.gz px4-firmware-201fdbc42c46bc9146a8cbf2434a98792d6d9f50.tar.bz2 px4-firmware-201fdbc42c46bc9146a8cbf2434a98792d6d9f50.zip |
ardrone flying now (still workaround of disabled rates controller)
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
-rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 70b9d8e28..904872dde 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -127,8 +127,8 @@ static void *rate_control_thread_main(void *arg) gyro_lp[1] = gyro_report.y; gyro_lp[2] = gyro_report.z; -// multirotor_control_rates(&rates_sp, gyro_lp, &actuators); -// orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + multirotor_control_rates(&rates_sp, gyro_lp, &actuators); + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); // } } } @@ -192,10 +192,10 @@ mc_thread_main(int argc, char *argv[]) /* ready, spawn pthread */ pthread_attr_t rate_control_attr; - pthread_attr_init(&rate_control_attr); - pthread_attr_setstacksize(&rate_control_attr, 2048); - pthread_t rate_control_thread; - pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL); +// pthread_attr_init(&rate_control_attr); +// pthread_attr_setstacksize(&rate_control_attr, 2048); +// pthread_t rate_control_thread; +// pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL); while (!thread_should_exit) { @@ -306,7 +306,7 @@ mc_thread_main(int argc, char *argv[]) perf_print_counter(mc_loop_perf); perf_free(mc_loop_perf); - pthread_join(rate_control_thread, NULL); + //pthread_join(rate_control_thread, NULL); fflush(stdout); exit(0); @@ -340,6 +340,7 @@ int multirotor_att_control_main(int argc, char *argv[]) default: fprintf(stderr, "option: -%c\n", ch); usage("unrecognized option"); + break; } } argc -= optioncount; |