fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 00:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ROS: Fixes for ROS build

Browse Source 
The ROS build included some files that used isfinite vs PX4_ISFINITE.

The AppState class also needed to be supported for ROS.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-19 10:41:15 -07:00
parent 49a200d834
commit 0f5cb75692
6 changed files with 25 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+4 -4
View File
@@ -236,10 +236,10 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const px4_vehicle_atti
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.data().control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.data().control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.data().control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.data().control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.data().control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.data().control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.data().control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.data().control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.data().timestamp = px4::get_time_micros();
if (!_actuators_0_circuit_breaker_enabled) {