diff options
Diffstat (limited to 'src/modules/bottle_drop/bottle_drop.cpp')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 3eec5a879..30ee782cc 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -392,11 +392,17 @@ BottleDrop::task_main() param_t param_gproperties = param_find("BD_GPROPERTIES"); param_t param_turn_radius = param_find("BD_TURNRADIUS"); param_t param_precision = param_find("BD_PRECISION"); + param_t param_cd = param_find("BD_OBJ_CD"); + param_t param_mass = param_find("BD_OBJ_MASS"); + param_t param_surface = param_find("BD_OBJ_SURFACE"); param_get(param_precision, &precision); param_get(param_turn_radius, &turn_radius); param_get(param_gproperties, &z_0); + param_get(param_cd, &cd); + param_get(param_mass, &M); + param_get(param_surface, &A); int vehicle_global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); @@ -419,10 +425,10 @@ BottleDrop::task_main() struct wind_estimate_s wind; - /* wakeup source(s) */ + // wakeup source(s) struct pollfd fds[1]; - /* Setup of loop */ + // Setup of loop fds[0].fd = _command_sub; fds[0].events = POLLIN; |