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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 11:52:05 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 11:52:05 +0400 |
| commit | dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc (patch) | |
| tree | e81f6b42afa0daffaf51a4b852117d22429084aa /src/modules/multirotor_att_control/multirotor_att_control_main.c | |
| parent | 462a9c84540e9258a5ab4270b258e5809cb5f88b (diff) | |
| download | px4-firmware-dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc.tar.gz px4-firmware-dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc.tar.bz2 px4-firmware-dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc.zip | |
Cleanup: remove useless angular rates from attitude rate controller
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 8 |
1 files changed, 1 insertions, 7 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 38775ed1f..8ba3241ad 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -395,13 +395,7 @@ mc_thread_main(int argc, char *argv[]) rates[1] = att.pitchspeed; rates[2] = att.yawspeed; - rates_acc[0] = att.rollacc; - rates_acc[1] = att.pitchacc; - rates_acc[2] = att.yawacc; - - - - multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug); + multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); |