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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-15 08:39:57 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-15 08:39:57 +0200 |
| commit | 3dcd5dbd0e25432049e5ba6971851931764ae043 (patch) | |
| tree | 22bcca8a6c2593fe4b6d0585015473c24821dd51 /src/modules/multirotor_att_control | |
| parent | 16efc0d2d9437c44142503265553e8413f3f9cb3 (diff) | |
| download | px4-firmware-3dcd5dbd0e25432049e5ba6971851931764ae043.tar.gz px4-firmware-3dcd5dbd0e25432049e5ba6971851931764ae043.tar.bz2 px4-firmware-3dcd5dbd0e25432049e5ba6971851931764ae043.zip | |
Piping through manual control channels
Diffstat (limited to 'src/modules/multirotor_att_control')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 6 |
1 files changed, 6 insertions, 0 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 44f8f664b..60a211817 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -368,6 +368,12 @@ mc_thread_main(int argc, char *argv[]) actuators.control[3] = 0.0f; } + /* fill in manual control values */ + actuators.control[4] = manual.flaps; + actuators.control[5] = manual.aux1; + actuators.control[6] = manual.aux2; + actuators.control[7] = manual.aux3; + actuators.timestamp = hrt_absolute_time(); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); |