diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-24 11:40:16 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-24 11:40:42 +0200 |
| commit | a1b99a3f03a5908ea7e263658343451440326aea (patch) | |
| tree | 45b3d287c854c99d0655934dbbd4ca65238703b8 /apps/multirotor_att_control | |
| parent | a69c55f671b1a2116c0e6c497906844a81ce6c74 (diff) | |
| download | px4-firmware-a1b99a3f03a5908ea7e263658343451440326aea.tar.gz px4-firmware-a1b99a3f03a5908ea7e263658343451440326aea.tar.bz2 px4-firmware-a1b99a3f03a5908ea7e263658343451440326aea.zip | |
Kicked out mix_and_link, deleted old MPU driver, disabled (still needed for reference) old HMC and MS5611 drivers. Removed driver init from up_nsh.c. Reworked fixedwing_control to be closer to up-to-date api, still more clean up needed. Fixed a bug that limited the motor thrust for multirotor control
Diffstat (limited to 'apps/multirotor_att_control')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 11 |
1 files changed, 2 insertions, 9 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 33e7ab7e7..9a23e8290 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -96,8 +96,6 @@ mc_thread_main(int argc, char *argv[]) memset(&raw, 0, sizeof(raw)); struct ardrone_motors_setpoint_s setpoint; memset(&setpoint, 0, sizeof(setpoint)); - struct actuator_controls_s actuator_controls; - memset(&actuator_controls, 0, sizeof(actuator_controls)); struct actuator_controls_s actuators; struct actuator_armed_s armed; @@ -153,12 +151,7 @@ mc_thread_main(int argc, char *argv[]) att_sp.yaw_body = 0.0f; att_sp.thrust = 0.1f; } else { - if (state.state_machine == SYSTEM_STATE_MANUAL || - state.state_machine == SYSTEM_STATE_GROUND_READY || - state.state_machine == SYSTEM_STATE_STABILIZED || - state.state_machine == SYSTEM_STATE_AUTO || - state.state_machine == SYSTEM_STATE_MISSION_ABORT || - state.state_machine == SYSTEM_STATE_EMCY_LANDING) { + if (state.flag_system_armed) { att_sp.thrust = manual.throttle; armed.armed = true; @@ -173,7 +166,7 @@ mc_thread_main(int argc, char *argv[]) } - multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode); + multirotor_control_attitude(&att_sp, &att, &state, &actuators, motor_test_mode); /* publish the result */ orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); |