diff options
Diffstat (limited to 'apps')
4 files changed, 6 insertions, 4 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index b13d564d6..9c784e98e 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -47,7 +47,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 0766a3d40..06890ed8b 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -46,7 +46,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_global_position.h> @@ -194,6 +194,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) actuators.control[i] = 0.0f; + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 959628be9..7c17e70f3 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -47,7 +47,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -178,6 +178,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); } + /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 278931e4a..63ea1e5b4 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -46,7 +46,7 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <arch/board/up_hrt.h> +#include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_global_position.h> |