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| author | Julian Oes <julian@oes.ch> | 2014-03-30 15:01:07 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-03-30 15:01:07 +0200 |
| commit | 64148a9e2af255357df8aeae06a4ad2ef972ffec (patch) | |
| tree | abf72b7961bc1e6c0590e618c0181dbfa2682db1 /src/modules/bottle_drop | |
| parent | eb4e250da88cf519850a53266fffbd06fd4a0872 (diff) | |
| download | px4-firmware-64148a9e2af255357df8aeae06a4ad2ef972ffec.tar.gz px4-firmware-64148a9e2af255357df8aeae06a4ad2ef972ffec.tar.bz2 px4-firmware-64148a9e2af255357df8aeae06a4ad2ef972ffec.zip | |
bottle_drop: changed servo travels to match Simon's viper
Diffstat (limited to 'src/modules/bottle_drop')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 1dcad2144..ce760adc3 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -243,21 +243,21 @@ BottleDrop::task_main() _doors_opened = hrt_absolute_time(); } } else { - _actuators.control[0] = 0.5f; - _actuators.control[1] = -0.5f; + _actuators.control[0] = 1.0f; + _actuators.control[1] = -1.0f; _doors_opened = 0; } /* update drop actuator, wait 0.5s until the doors are open before dropping */ if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 500000) { - _actuators.control[2] = 0.5f; - } else { _actuators.control[2] = -0.5f; + } else { + _actuators.control[2] = 0.5f; } - /* 2s after drop, reset and close everything again */ - if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 2000000) { + /* 20s after drop, reset and close everything again */ + if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 20000000) { _open_door = false; _drop = false; } |