diff options
Diffstat (limited to 'apps/ardrone_control/ardrone_control_helper.c')
-rw-r--r-- | apps/ardrone_control/ardrone_control_helper.c | 60 |
1 files changed, 60 insertions, 0 deletions
diff --git a/apps/ardrone_control/ardrone_control_helper.c b/apps/ardrone_control/ardrone_control_helper.c new file mode 100644 index 000000000..c073119e0 --- /dev/null +++ b/apps/ardrone_control/ardrone_control_helper.c @@ -0,0 +1,60 @@ +#include "ardrone_control_helper.h" +#include <unistd.h> +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> + +// int read_sensors_raw(sensors_raw_t *sensors_raw) +// { +// static int ret; +// ret = global_data_wait(&global_data_sensors_raw->access_conf_rate_full); + +// if (ret == 0) { +// memcpy(sensors_raw->gyro_raw, global_data_sensors_raw->gyro_raw, sizeof(sensors_raw->gyro_raw)); +// // printf("Timestamp %d\n", &global_data_sensors_raw->timestamp); + +// } else { +// printf("Controller timeout, no new sensor values available\n"); +// } + +// global_data_unlock(&global_data_sensors_raw->access_conf_rate_full); +// return ret; +// } + +// int read_attitude(global_data_attitude_t *attitude) +// { + +// static int ret; +// ret = global_data_wait(&global_data_attitude->access_conf); + +// if (ret == 0) { +// memcpy(&attitude->roll, &global_data_attitude->roll, sizeof(global_data_attitude->roll)); +// memcpy(&attitude->pitch, &global_data_attitude->pitch, sizeof(global_data_attitude->pitch)); +// memcpy(&attitude->yaw, &global_data_attitude->yaw, sizeof(global_data_attitude->yaw)); +// memcpy(&attitude->rollspeed, &global_data_attitude->rollspeed, sizeof(global_data_attitude->rollspeed)); +// memcpy(&attitude->pitchspeed, &global_data_attitude->pitchspeed, sizeof(global_data_attitude->pitchspeed)); +// memcpy(&attitude->yawspeed, &global_data_attitude->yawspeed, sizeof(global_data_attitude->yawspeed)); + +// } else { +// printf("Controller timeout, no new attitude values available\n"); +// } + +// global_data_unlock(&global_data_attitude->access_conf); + + + +// return ret; +// } + +// void read_quad_motors_setpoint(quad_motors_setpoint_t *rate_setpoint) +// { + +// if (0 == global_data_trylock(&global_data_quad_motors_setpoint->access_conf)) { //TODO: check if trylock is the right choice, maybe only lock? +// rate_setpoint->motor_front_nw = global_data_quad_motors_setpoint->motor_front_nw; +// rate_setpoint->motor_right_ne = global_data_quad_motors_setpoint->motor_right_ne; +// rate_setpoint->motor_back_se = global_data_quad_motors_setpoint->motor_back_se; +// rate_setpoint->motor_left_sw = global_data_quad_motors_setpoint->motor_left_sw; + +// global_data_unlock(&global_data_quad_motors_setpoint->access_conf); +// } +// } |