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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-26 22:25:39 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-26 22:25:39 +0200 |
commit | ec3949bf82dbaa50ea866b65cd0fc4630af18001 (patch) | |
tree | a9e7b2dc6a6b36952ca63c4b93c56176a1e9ba0f /apps/multirotor_att_control/multirotor_att_control_main.c | |
parent | f93464e64fa3bc9d8b5113c67aa690e5bc56d065 (diff) | |
download | px4-firmware-ec3949bf82dbaa50ea866b65cd0fc4630af18001.tar.gz px4-firmware-ec3949bf82dbaa50ea866b65cd0fc4630af18001.tar.bz2 px4-firmware-ec3949bf82dbaa50ea866b65cd0fc4630af18001.zip |
Fix a bug where the rate controller is always active
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
-rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 14 |
1 files changed, 9 insertions, 5 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 21c720096..9cb3831b1 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -79,6 +79,8 @@ static bool motor_test_mode = false; static struct actuator_controls_s actuators; static orb_advert_t actuator_pub; +static struct vehicle_status_s state; + /** * Perform rate control right after gyro reading */ @@ -118,7 +120,7 @@ static void *rate_control_thread_main(void *arg) /* perform local lowpass */ /* apply controller */ - // if (state.flag_control_rates_enabled) { + if (state.flag_control_rates_enabled) { /* lowpass gyros */ // XXX gyro_lp[0] = gyro_report.x; @@ -127,7 +129,7 @@ static void *rate_control_thread_main(void *arg) multirotor_control_rates(&rates_sp, gyro_lp, &actuators); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - // } + } } } @@ -138,7 +140,6 @@ static int mc_thread_main(int argc, char *argv[]) { /* declare and safely initialize all structs */ - struct vehicle_status_s state; memset(&state, 0, sizeof(state)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); @@ -201,7 +202,11 @@ mc_thread_main(int argc, char *argv[]) perf_begin(mc_loop_perf); /* get a local copy of system state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); + bool updated; + orb_check(state_sub, &updated); + if (updated) { + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + } /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); /* get a local copy of attitude */ @@ -209,7 +214,6 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of attitude setpoint */ orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); /* get a local copy of rates setpoint */ - bool updated; orb_check(setpoint_sub, &updated); if (updated) { orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); |