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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-09-05 12:20:03 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-09-05 12:20:03 +0200 |
| commit | 1d7f3d0aa5f886d56bd69018fe7759a7df1ef6ef (patch) | |
| tree | d001947d0b660be851eb36474fc0c03a2d8f1cf4 /src/modules/position_estimator_inav | |
| parent | a022a3800c70c9b41294ec572f763c934e537f47 (diff) | |
| download | px4-firmware-1d7f3d0aa5f886d56bd69018fe7759a7df1ef6ef.tar.gz px4-firmware-1d7f3d0aa5f886d56bd69018fe7759a7df1ef6ef.tar.bz2 px4-firmware-1d7f3d0aa5f886d56bd69018fe7759a7df1ef6ef.zip | |
position_estimator_inav: land detector bug fixed
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 88057b323..932f61088 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -53,7 +53,7 @@ #include <math.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_attitude.h> @@ -181,7 +181,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) uint32_t baro_counter = 0; /* declare and safely initialize all structs */ - struct actuator_controls_effective_s actuator; + struct actuator_controls_s actuator; memset(&actuator, 0, sizeof(actuator)); struct actuator_armed_s armed; memset(&armed, 0, sizeof(armed)); @@ -200,7 +200,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* subscribe */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); - int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); + int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -337,7 +337,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* actuator */ if (fds[1].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_sub, &actuator); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_sub, &actuator); } /* armed */ @@ -546,7 +546,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) alt_disp = alt_disp * alt_disp; float land_disp2 = params.land_disp * params.land_disp; /* get actual thrust output */ - float thrust = armed.armed ? actuator.control_effective[3] : 0.0f; + float thrust = armed.armed ? actuator.control[3] : 0.0f; if (landed) { if (alt_disp > land_disp2 && thrust > params.land_thr) { |