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| author | Julian Oes <julian@oes.ch> | 2013-12-03 20:50:52 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-03 20:50:52 +0100 |
| commit | 03a54260012bffb63ae052829d1258ba81cfdebc (patch) | |
| tree | 104ce264fa47ca20803c316dd5d9c030be2caa98 /src/modules/bottle_drop | |
| parent | f2c303679ea859bf722eaa7289fd10f8b806264a (diff) | |
| parent | e034f5135ebabeb751ea775f2d79440cf74c8047 (diff) | |
| download | px4-firmware-03a54260012bffb63ae052829d1258ba81cfdebc.tar.gz px4-firmware-03a54260012bffb63ae052829d1258ba81cfdebc.tar.bz2 px4-firmware-03a54260012bffb63ae052829d1258ba81cfdebc.zip | |
Merge branch 'fw_autoland_att_tecs_navigator' into bottle_drop_navigator
Conflicts:
src/modules/navigator/navigator_main.cpp
Diffstat (limited to 'src/modules/bottle_drop')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.c | 38 |
1 files changed, 19 insertions, 19 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.c b/src/modules/bottle_drop/bottle_drop.c index 1c2e008ba..e2194bae2 100644 --- a/src/modules/bottle_drop/bottle_drop.c +++ b/src/modules/bottle_drop/bottle_drop.c @@ -272,21 +272,21 @@ int bottle_drop_thread_main(int argc, char *argv[]) { memset(&actuators, 0, sizeof(actuators)); orb_advert_t actuator_pub = orb_advertise(ORB_ID(actuator_controls_1), &actuators); - struct mission_s onboard_mission; - memset(&onboard_mission, 0, sizeof(onboard_mission)); - onboard_mission.items = (struct mission_item_s*)malloc(sizeof(struct mission_item_s) * 2); + // struct mission_s onboard_mission; + // memset(&onboard_mission, 0, sizeof(onboard_mission)); + // onboard_mission.items = (struct mission_item_s*)malloc(sizeof(struct mission_item_s) * 2); - struct mission_item_s *flight_vector_s = &onboard_mission.items[0]; - struct mission_item_s *flight_vector_e = &onboard_mission.items[1]; + struct mission_item_s *flight_vector_s = NULL;//&onboard_mission.items[0]; + struct mission_item_s *flight_vector_e = NULL;//&onboard_mission.items[1]; - flight_vector_s->nav_cmd = NAV_CMD_WAYPOINT; - flight_vector_s->radius = 50; // TODO: make parameter - flight_vector_s->autocontinue = true; - flight_vector_e->nav_cmd = NAV_CMD_WAYPOINT; - flight_vector_e->radius = 50; // TODO: make parameter - flight_vector_e->autocontinue = true; + // flight_vector_s->nav_cmd = NAV_CMD_WAYPOINT; + // flight_vector_s->radius = 50; // TODO: make parameter + // flight_vector_s->autocontinue = true; + // flight_vector_e->nav_cmd = NAV_CMD_WAYPOINT; + // flight_vector_e->radius = 50; // TODO: make parameter + // flight_vector_e->autocontinue = true; - orb_advert_t onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &onboard_mission); + // orb_advert_t onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &onboard_mission); struct pollfd fds[] = { { .fd = vehicle_attitude_sub, .events = POLLIN } @@ -448,18 +448,18 @@ int bottle_drop_thread_main(int argc, char *argv[]) { // warnx("future_distance: %.2f, precision: %.2f", future_distance, precision); // } - onboard_mission.count = 2; + // onboard_mission.count = 2; - if (state_run && !state_drop) { - onboard_mission.current_index = 0; - } else { - onboard_mission.current_index = -1; - } + // if (state_run && !state_drop) { + // onboard_mission.current_index = 0; + // } else { + // onboard_mission.current_index = -1; + // } // if (counter % 10 ==0) // warnx("Distance real: %.2f, distance_open_door: %.2f, angle to wind: %.2f", distance_real, distance_open_door, fabsf(_wrap_pi(globalpos.yaw-atan2f(wind_speed.vy,wind_speed.vx)+M_PI_F))); - orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); + // orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); } |