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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 16:29:08 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 16:32:05 +0100 |
| commit | a36088b9c20e52e37d48e7a08aca39d5f8b901f5 (patch) | |
| tree | 8e33b1208d54d2d4be4db83379e7fd9dc1bcb775 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 685d3965a81b3f6a1ada4aa8bf9ebdd16b029c58 (diff) | |
| download | px4-firmware-a36088b9c20e52e37d48e7a08aca39d5f8b901f5.tar.gz px4-firmware-a36088b9c20e52e37d48e7a08aca39d5f8b901f5.tar.bz2 px4-firmware-a36088b9c20e52e37d48e7a08aca39d5f8b901f5.zip | |
INAV: use int for outputs
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 | 4 |
1 files changed, 2 insertions, 2 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 d52138522..769f84cb6 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -535,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp() - _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0); _pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1) - _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1); - mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1)); + mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1)); } } @@ -545,7 +545,7 @@ MulticopterPositionControl::reset_alt_sp() if (_reset_alt_sp) { _reset_alt_sp = false; _pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2); - mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2)); + mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2)); } } |