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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-08 10:37:01 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-08 10:37:01 +0100 |
| commit | 87df7c3243412d4fc7a0c40967b2abe078f7a0b2 (patch) | |
| tree | 63e442c07a3e709ab76f456f366f437c0552d700 /src/modules/mc_att_control | |
| parent | 65629d09d5e2424c6fcaf261c95f6d6995c4afd7 (diff) | |
| download | px4-firmware-87df7c3243412d4fc7a0c40967b2abe078f7a0b2.tar.gz px4-firmware-87df7c3243412d4fc7a0c40967b2abe078f7a0b2.tar.bz2 px4-firmware-87df7c3243412d4fc7a0c40967b2abe078f7a0b2.zip | |
move vehicle_attitude_setpoint to msg format
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.cpp | 4 | ||||
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 7 | ||||
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 6 |
3 files changed, 6 insertions, 11 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index 5e65e6508..f6b3268b5 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -172,7 +172,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) if (_v_att_sp.R_valid) { /* rotation matrix in _att_sp is valid, use it */ - R_sp.set(&_v_att_sp.R_body[0][0]); + R_sp.set(&_v_att_sp.R_body[0]); } else { /* rotation matrix in _att_sp is not valid, use euler angles instead */ @@ -180,7 +180,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) _v_att_sp.yaw_body); /* copy rotation matrix back to setpoint struct */ - memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], + memcpy(&_v_att_sp.R_body[0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body)); _v_att_sp.R_valid = true; } diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index 1c2f3fb6f..c1ea52f63 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -34,7 +34,7 @@ /** * @file mc_att_control_base.h - * + * * MC Attitude Controller * * @author Tobias Naegeli <naegelit@student.ethz.ch> @@ -45,23 +45,20 @@ * @author Roman Bapst <bapstr@ethz.ch> * */ - +#include <px4.h> #include <stdio.h> #include <stdlib.h> #include <string.h> #include <unistd.h> #include <errno.h> #include <math.h> -#include <drivers/drv_hrt.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/actuator_armed.h> -#include <systemlib/err.h> #include <systemlib/perf_counter.h> #include <lib/mathlib/mathlib.h> 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 887a53508..c0e8957e0 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -52,8 +52,7 @@ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers. */ -#include <nuttx/config.h> -#include <stdio.h> +#include <px4.h> #include <stdlib.h> #include <string.h> #include <unistd.h> @@ -62,8 +61,6 @@ #include <poll.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_rates_setpoint.h> @@ -78,6 +75,7 @@ #include <systemlib/circuit_breaker.h> #include <lib/mathlib/mathlib.h> #include <lib/geo/geo.h> + #include "mc_att_control_base.h" /** |