diff options
Diffstat (limited to 'src/examples/rover_steering_control/main.cpp')
-rw-r--r-- | src/examples/rover_steering_control/main.cpp | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp index 7ef914098..67ff48916 100644 --- a/src/examples/rover_steering_control/main.cpp +++ b/src/examples/rover_steering_control/main.cpp @@ -156,6 +156,23 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st struct actuator_controls_s *actuators) { + //double r,p,y,t; + + + + //printf("vehicle_attitude_setpoint:\n"); + //print values only when they change to get less spam in console + if((double)att_sp->roll_body > 0.0) { printf("att_sp->roll_body: %8.4f\n" , (double)att_sp->roll_body); } + if((double)att_sp->pitch_body > 0.0) {printf("att_sp->pitch_body: %8.4f\n" , (double)att_sp->pitch_body); } + if((double)att_sp->yaw_body > 0.0) { printf("att_sp->yaw_body: %8.4f\n" , (double)att_sp->yaw_body); } + if((double)att_sp->thrust > 0.0) { printf("att_sp->throttle: %8.4f\n" , (double)att_sp->thrust); } + + // r = (double)att_sp->roll_body; + // p = (double)att_sp->pitch_body; + // y = (double)att_sp->yaw_body; + // t = (double)att_sp->thrust; + + /* * The PX4 architecture provides a mixer outside of the controller. * The mixer is fed with a default vector of actuator controls, representing |