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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-08 22:38:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-08 22:38:44 +0200 |
| commit | 27c5cef054b8db1ad14ea6ba403bbfe811d99d9a (patch) | |
| tree | baa7a9f77381faa50a4f5d36a4d8689bbf0fc347 /apps/multirotor_att_control/multirotor_att_control_main.c | |
| parent | 36ed8bb97a5b3638f8d3678a7c49744d21ea2e19 (diff) | |
| download | px4-firmware-27c5cef054b8db1ad14ea6ba403bbfe811d99d9a.tar.gz px4-firmware-27c5cef054b8db1ad14ea6ba403bbfe811d99d9a.tar.bz2 px4-firmware-27c5cef054b8db1ad14ea6ba403bbfe811d99d9a.zip | |
Added RC params, fixed attitude and position control
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 350308fa3..b08723452 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -98,7 +98,6 @@ mc_thread_main(int argc, char *argv[]) memset(&setpoint, 0, sizeof(setpoint)); struct actuator_controls_s actuators; - struct actuator_armed_s armed; /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -113,10 +112,11 @@ mc_thread_main(int argc, char *argv[]) struct pollfd fds = { .fd = att_sub, .events = POLLIN }; /* publish actuator controls */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { actuators.control[i] = 0.0f; + } + orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); - armed.armed = false; orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); /* register the perf counter */ @@ -143,12 +143,16 @@ mc_thread_main(int argc, char *argv[]) att_sp.roll_body = -manual.roll * M_PI_F / 8.0f; att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f; - att_sp.yaw_body = -manual.yaw * M_PI_F; + att_sp.yaw_rate_body = -manual.yaw * M_PI_F; att_sp.timestamp = hrt_absolute_time(); + if (motor_test_mode) { att_sp.roll_body = 0.0f; att_sp.pitch_body = 0.0f; att_sp.yaw_body = 0.0f; + att_sp.roll_rate_body = 0.0f; + att_sp.pitch_rate_body = 0.0f; + att_sp.yaw_rate_body = 0.0f; att_sp.thrust = 0.1f; } else { att_sp.thrust = manual.throttle; |