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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip |
Merged master into uavcan
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 | 17 |
1 files changed, 8 insertions, 9 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 7c625a0c5..bcc3e2ae7 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -226,7 +226,7 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace pos_control @@ -466,7 +466,7 @@ MulticopterPositionControl::update_ref() { if (_local_pos.ref_timestamp != _ref_timestamp) { double lat_sp, lon_sp; - float alt_sp; + float alt_sp = 0.0f; if (_ref_timestamp != 0) { /* calculate current position setpoint in global frame */ @@ -545,7 +545,6 @@ MulticopterPositionControl::task_main() hrt_abstime t_prev = 0; const float alt_ctl_dz = 0.2f; - const float pos_ctl_dz = 0.05f; math::Vector<3> sp_move_rate; sp_move_rate.zero(); @@ -617,7 +616,7 @@ MulticopterPositionControl::task_main() reset_alt_sp(); /* move altitude setpoint with throttle stick */ - sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz); + sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz); } if (_control_mode.flag_control_position_enabled) { @@ -625,8 +624,8 @@ MulticopterPositionControl::task_main() reset_pos_sp(); /* move position setpoint with roll/pitch stick */ - sp_move_rate(0) = _manual.pitch; - sp_move_rate(1) = _manual.roll; + sp_move_rate(0) = _manual.x; + sp_move_rate(1) = _manual.y; } /* limit setpoint move rate */ @@ -782,7 +781,7 @@ MulticopterPositionControl::task_main() float i = _params.thr_min; if (reset_int_z_manual) { - i = _manual.throttle; + i = _manual.z; if (i < _params.thr_min) { i = _params.thr_min; @@ -862,7 +861,7 @@ MulticopterPositionControl::task_main() if (_control_mode.flag_control_velocity_enabled) { /* limit max tilt */ - if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) { + if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) { /* absolute horizontal thrust */ float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(); @@ -1062,7 +1061,7 @@ MulticopterPositionControl::start() _control_task = task_spawn_cmd("mc_pos_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterPositionControl::task_main_trampoline, nullptr); |