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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-05 09:29:57 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-05 09:29:57 +0100 |
| commit | 417bc91363c2607906c612089cb4b7197a60f531 (patch) | |
| tree | 3ec04fc6f9668b5b6ecac8a71e254246cda9239f /src/modules/mc_att_control/mc_att_control_main.cpp | |
| parent | 85aa6554ad90e392a9538006f8cc483d481f0bbd (diff) | |
| download | px4-firmware-417bc91363c2607906c612089cb4b7197a60f531.tar.gz px4-firmware-417bc91363c2607906c612089cb4b7197a60f531.tar.bz2 px4-firmware-417bc91363c2607906c612089cb4b7197a60f531.zip | |
mc att: more cleanup between base and main class
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index d6a58f418..887a53508 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -38,6 +38,9 @@ * @author Tobias Naegeli <naegelit@student.ethz.ch> * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Thomas Gubler <thomasgubler@gmail.com> + * @author Julian Oes <julian@oes.ch> + * @author Roman Bapst <bapstr@ethz.ch> * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. @@ -110,8 +113,10 @@ public: int start(); private: - bool _task_should_exit; /**< if true, sensor task should exit */ - int _control_task; /**< task handle for sensor task */ + bool _task_should_exit; /**< if true, sensor task should exit */ + int _control_task; /**< task handle for sensor task */ + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ + int _v_att_sub; /**< vehicle attitude subscription */ int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */ @@ -211,6 +216,9 @@ MulticopterAttitudeControl *g_control; MulticopterAttitudeControl::MulticopterAttitudeControl() : MulticopterAttitudeControlBase(), + _task_should_exit(false), + _control_task(-1), + _actuators_0_circuit_breaker_enabled(false), /* subscriptions */ _v_att_sub(-1), _v_att_sp_sub(-1), |