From 417bc91363c2607906c612089cb4b7197a60f531 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 5 Dec 2014 09:29:57 +0100 Subject: mc att: more cleanup between base and main class --- src/modules/mc_att_control/mc_att_control_main.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp') diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index d6a58f418..887a53508 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -38,6 +38,9 @@ * @author Tobias Naegeli * @author Lorenz Meier * @author Anton Babushkin + * @author Thomas Gubler + * @author Julian Oes + * @author Roman Bapst * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. @@ -110,8 +113,10 @@ public: int start(); private: - bool _task_should_exit; /**< if true, sensor task should exit */ - int _control_task; /**< task handle for sensor task */ + bool _task_should_exit; /**< if true, sensor task should exit */ + int _control_task; /**< task handle for sensor task */ + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ + int _v_att_sub; /**< vehicle attitude subscription */ int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */ @@ -211,6 +216,9 @@ MulticopterAttitudeControl *g_control; MulticopterAttitudeControl::MulticopterAttitudeControl() : MulticopterAttitudeControlBase(), + _task_should_exit(false), + _control_task(-1), + _actuators_0_circuit_breaker_enabled(false), /* subscriptions */ _v_att_sub(-1), _v_att_sp_sub(-1), -- cgit v1.2.3