diff options
Diffstat (limited to 'apps/ardrone_control/ardrone_control.c')
| -rw-r--r-- | apps/ardrone_control/ardrone_control.c | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/apps/ardrone_control/ardrone_control.c b/apps/ardrone_control/ardrone_control.c index bc5598f9c..72e8ae14e 100644 --- a/apps/ardrone_control/ardrone_control.c +++ b/apps/ardrone_control/ardrone_control.c @@ -62,6 +62,7 @@ #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/ardrone_motors_setpoint.h> #include <uORB/topics/sensor_combined.h> +#include <uORB/topics/actuator_controls.h> __EXPORT int ardrone_control_main(int argc, char *argv[]); @@ -181,6 +182,8 @@ int ardrone_control_main(int argc, char *argv[]) memset(&raw, 0, sizeof(raw)); struct ardrone_motors_setpoint_s setpoint; memset(&setpoint, 0, sizeof(setpoint)); + struct actuator_controls_s actuator_controls; + memset(&actuator_controls, 0, sizeof(actuator_controls)); /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -251,9 +254,8 @@ int ardrone_control_main(int argc, char *argv[]) float roll_control, pitch_control, yaw_control, thrust_control; - multirotor_control_attitude(&att_sp, &att, &state, motor_test_mode, - &roll_control, &pitch_control, &yaw_control, &thrust_control); - ardrone_mixing_and_output(ardrone_write, roll_control, pitch_control, yaw_control, thrust_control, motor_test_mode); + multirotor_control_attitude(&att_sp, &att, &state, &actuator_controls, motor_test_mode); + ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode); } else { /* invalid mode, complain */ |