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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-11 08:58:39 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-11 08:58:39 +0200 |
| commit | b0fe5ae1ba1f6bbdb0fff1b450c0bf0a032095ec (patch) | |
| tree | f94e77477ffc0d9c0b4a8f20a08a7f39eb2f04fe /src/modules/fw_att_control | |
| parent | ab80459b326aaef5ce9e2d7cae04613af6653c66 (diff) | |
| download | px4-firmware-b0fe5ae1ba1f6bbdb0fff1b450c0bf0a032095ec.tar.gz px4-firmware-b0fe5ae1ba1f6bbdb0fff1b450c0bf0a032095ec.tar.bz2 px4-firmware-b0fe5ae1ba1f6bbdb0fff1b450c0bf0a032095ec.zip | |
Bring back nominal state of fw attitude controller
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 24 |
1 files changed, 12 insertions, 12 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 e9480336a..0cea13cc4 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -910,18 +910,18 @@ FixedwingAttitudeControl::task_main() _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); } -// if (_actuators_1_pub > 0) { -// /* publish the attitude setpoint */ -// orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); -//// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", -//// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], -//// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], -//// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); -// -// } else { -// /* advertise and publish */ -// _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); -// } + if (_actuators_1_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); +// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", +// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], +// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], +// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); + + } else { + /* advertise and publish */ + _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); + } } |