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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-02 12:19:24 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-02 12:19:24 +0100 |
| commit | e28e8c11bba0779386fc16ee47deac4db39b51c0 (patch) | |
| tree | e86866463bd88c5d1c11bbd0db14152a26e0e05c /src/modules/fw_att_control | |
| parent | 141dda209222a7dd5afad6b844735fd9a44756a6 (diff) | |
| download | px4-firmware-e28e8c11bba0779386fc16ee47deac4db39b51c0.tar.gz px4-firmware-e28e8c11bba0779386fc16ee47deac4db39b51c0.tar.bz2 px4-firmware-e28e8c11bba0779386fc16ee47deac4db39b51c0.zip | |
make default apps compatible with autogenerated attitude and rc_channels message
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index e770c11a2..83fe25571 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -75,6 +75,7 @@ #include <ecl/attitude_fw/ecl_pitch_controller.h> #include <ecl/attitude_fw/ecl_roll_controller.h> #include <ecl/attitude_fw/ecl_yaw_controller.h> +#include <px4_defines.h> /** * Fixedwing attitude control app start / stop handling function @@ -824,9 +825,9 @@ FixedwingAttitudeControl::task_main() float speed_body_v = 0.0f; float speed_body_w = 0.0f; if(_att.R_valid) { - speed_body_u = _att.R[0][0] * _global_pos.vel_n + _att.R[1][0] * _global_pos.vel_e + _att.R[2][0] * _global_pos.vel_d; - speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d; - speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d; + speed_body_u = PX4_R(_att.R, 0, 0) * _global_pos.vel_n + PX4_R(_att.R, 1, 0) * _global_pos.vel_e + PX4_R(_att.R, 2, 0) * _global_pos.vel_d; + speed_body_v = PX4_R(_att.R, 0, 1) * _global_pos.vel_n + PX4_R(_att.R, 1, 1) * _global_pos.vel_e + PX4_R(_att.R, 2, 1) * _global_pos.vel_d; + speed_body_w = PX4_R(_att.R, 0, 2) * _global_pos.vel_n + PX4_R(_att.R, 1, 2) * _global_pos.vel_e + PX4_R(_att.R, 2, 2) * _global_pos.vel_d; } else { if (_debug && loop_counter % 10 == 0) { warnx("Did not get a valid R\n"); |