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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 15:55:03 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 15:55:03 +0200 |
commit | 056693df44561a8d1e19501585aa5f680b7aa086 (patch) | |
tree | 953d7b9abbb22a7333f5468faa03c53b900eb731 /src/modules/bottle_drop/bottle_drop.cpp | |
parent | 592f6f2bcb632d6bb86c63b1055560d0c8b526b2 (diff) | |
download | px4-firmware-056693df44561a8d1e19501585aa5f680b7aa086.tar.gz px4-firmware-056693df44561a8d1e19501585aa5f680b7aa086.tar.bz2 px4-firmware-056693df44561a8d1e19501585aa5f680b7aa086.zip |
Add drag coefficients to adjust bottle drop to other objects to ease testing
Diffstat (limited to 'src/modules/bottle_drop/bottle_drop.cpp')
-rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 3eec5a879..30ee782cc 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -392,11 +392,17 @@ BottleDrop::task_main() param_t param_gproperties = param_find("BD_GPROPERTIES"); param_t param_turn_radius = param_find("BD_TURNRADIUS"); param_t param_precision = param_find("BD_PRECISION"); + param_t param_cd = param_find("BD_OBJ_CD"); + param_t param_mass = param_find("BD_OBJ_MASS"); + param_t param_surface = param_find("BD_OBJ_SURFACE"); param_get(param_precision, &precision); param_get(param_turn_radius, &turn_radius); param_get(param_gproperties, &z_0); + param_get(param_cd, &cd); + param_get(param_mass, &M); + param_get(param_surface, &A); int vehicle_global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); @@ -419,10 +425,10 @@ BottleDrop::task_main() struct wind_estimate_s wind; - /* wakeup source(s) */ + // wakeup source(s) struct pollfd fds[1]; - /* Setup of loop */ + // Setup of loop fds[0].fd = _command_sub; fds[0].events = POLLIN; |