diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-17 10:13:15 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-17 10:13:15 +0200 |
| commit | f5dea9a1a57f9a5c40996f5b24537d69b59d6210 (patch) | |
| tree | e5f417466bba1a01f17f2b75d5b13416c070d173 /apps/multirotor_att_control/multirotor_att_control_main.c | |
| parent | 6877a4b1a342ad815df852d685924b217fca1855 (diff) | |
| download | px4-firmware-f5dea9a1a57f9a5c40996f5b24537d69b59d6210.tar.gz px4-firmware-f5dea9a1a57f9a5c40996f5b24537d69b59d6210.tar.bz2 px4-firmware-f5dea9a1a57f9a5c40996f5b24537d69b59d6210.zip | |
Debugging / fixing attitude aliasing
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 3fb505174..a9f27197d 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -103,11 +103,15 @@ mc_thread_main(int argc, char *argv[]) int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - //int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - // int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint)); - /* rate-limit the attitude subscription to 200Hz to pace our loop */ - orb_set_interval(att_sub, 5); + /* + * Do not rate-limit the loop to prevent aliasing + * if rate-limiting would be desired later, the line below would + * enable it. + * + * rate-limit the attitude subscription to 200Hz to pace our loop + * orb_set_interval(att_sub, 5); + */ struct pollfd fds = { .fd = att_sub, .events = POLLIN }; /* publish actuator controls */ |