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Lorenz Meier
2012-12-13 11:12:34 +01:00
parent 26faab64e5 03076a72ca
commit 1fc0a6546e
13 changed files with 253 additions and 60 deletions
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apps/mavlink/mavlink_receiver.c
+3 -3
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@@ -261,8 +261,8 @@ handle_message(mavlink_message_t *msg)
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;
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;
if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
ml_armed = false;
@@ -301,7 +301,7 @@ handle_message(mavlink_message_t *msg)
/* Calculate Rotation Matrix */
//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
//TODO: assuming low pitch and roll values for now
hil_attitude.R[0][0] = cosf(hil_state.yaw);
hil_attitude.R[0][1] = sinf(hil_state.yaw);