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Fix various compilation issue

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Benjamin O'Connell-Armand
2014-06-14 15:50:21 -04:00
parent 7d05f2df7c
commit 128ec447ad
2 changed files with 9 additions and 8 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -4
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@@ -390,14 +390,14 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
break;
}
if (m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES || m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
if (ml_mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES || ml_mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
} else if (m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || m1_mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
} else if (ml_mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || ml_mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
/*Temporary hack to use set_quad_swarm_roll_pitch_yaw_thrust msg for position or velocity */
/* Converts INT16 centimeters to float meters */
@@ -483,10 +483,10 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
}
if (_global_vel_sp_pub < 0) {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint_s), &_global_vel_sp_pub);
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp_pub);
} else {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint_s), _global_vel_sp_pub, &global_vel_sp);
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &global_vel_sp);
}
} else if (_control_mode.flag_control_attitude_enabled) {