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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-30 16:44:57 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-30 16:44:57 +0100 |
| commit | ab63a77edf78a198117757a1d5e2dbe34cde1263 (patch) | |
| tree | 86fe3295798cf4e5049b55e7471583320547730d /apps/multirotor_att_control/multirotor_att_control_main.c | |
| parent | 96dc901caeeb8a09e45f9a071d2f28d5b01148c5 (diff) | |
| download | px4-firmware-ab63a77edf78a198117757a1d5e2dbe34cde1263.tar.gz px4-firmware-ab63a77edf78a198117757a1d5e2dbe34cde1263.tar.bz2 px4-firmware-ab63a77edf78a198117757a1d5e2dbe34cde1263.zip | |
Reducing stack sizes to free some RAM
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 77adaf217..3466f9842 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -217,8 +217,9 @@ mc_thread_main(int argc, char *argv[]) att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; /* only move setpoint if manual input is != 0 */ - if (manual.yaw < -0.02f || 0.02f < manual.yaw) { - att_sp.yaw_body = att_sp.yaw_body + manual.yaw * -0.0025f; + // XXX turn into param + if (manual.yaw < -0.01f || 0.01f < manual.yaw) { + att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.01f; } att_sp.thrust = manual.throttle; att_sp.timestamp = hrt_absolute_time(); @@ -338,7 +339,7 @@ int multirotor_att_control_main(int argc, char *argv[]) mc_task = task_spawn("multirotor_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 15, - 6000, + 2048, mc_thread_main, NULL); exit(0); |