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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/mc_pos_control/mc_pos_control_main.cpp | |
| 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/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 5918d6bc5..6682a9c89 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -73,6 +73,7 @@ #include <mathlib/mathlib.h> #include <lib/geo/geo.h> #include <mavlink/mavlink_log.h> +#include <px4_defines.h> #define TILT_COS_MAX 0.7f #define SIGMA 0.000001f @@ -1147,11 +1148,11 @@ MulticopterPositionControl::task_main() /* thrust compensation for altitude only control mode */ float att_comp; - if (_att.R[2][2] > TILT_COS_MAX) { - att_comp = 1.0f / _att.R[2][2]; + if (PX4_R(_att.R, 2, 2) > TILT_COS_MAX) { + att_comp = 1.0f / PX4_R(_att.R, 2, 2); - } else if (_att.R[2][2] > 0.0f) { - att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f; + } else if (PX4_R(_att.R, 2, 2) > 0.0f) { + att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * PX4_R(_att.R, 2, 2) + 1.0f; saturation_z = true; } else { |