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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 16:38:11 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 16:38:11 +0200 |
| commit | 2fa0dec36954b0f3c99da0a443a9c51a7a0479c5 (patch) | |
| tree | 875f7506d1f5896506000d634556a2e290026021 /apps/multirotor_att_control | |
| parent | 67a2c8a173819018ba2155688aa2a7bb682d8a77 (diff) | |
| download | px4-firmware-2fa0dec36954b0f3c99da0a443a9c51a7a0479c5.tar.gz px4-firmware-2fa0dec36954b0f3c99da0a443a9c51a7a0479c5.tar.bz2 px4-firmware-2fa0dec36954b0f3c99da0a443a9c51a7a0479c5.zip | |
Back out testing changes that are a bit too much ahead of time for master
Diffstat (limited to 'apps/multirotor_att_control')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 14 |
1 files changed, 7 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 4b386ffd4..18efe1ae2 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -224,13 +224,13 @@ mc_thread_main(int argc, char *argv[]) /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ /* run attitude controller */ - // if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { - // multirotor_control_attitude(&att_sp, &att, NULL, &actuators); - // orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - // } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { - // multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); - // orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - // } + if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { + multirotor_control_attitude(&att_sp, &att, NULL, &actuators); + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + } if (state.flag_control_rates_enabled) { |