fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Forgot to comment

Browse Source
This commit is contained in:
Julian Oes 2012-11-07 10:56:25 -08:00
parent 5995240a07
commit 25ed791b70
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -73,7 +73,7 @@
#include "multirotor_attitude_control.h"
#include "multirotor_rate_control.h"
PARAM_DEFINE_FLOAT(MC_RCLOSS_THROT, 0.0f);
PARAM_DEFINE_FLOAT(MC_RCLOSS_THROT, 0.0f); // This defines the throttle when the RC signal is lost.
__EXPORT int multirotor_att_control_main(int argc, char *argv[]);
@ -145,6 +145,7 @@ mc_thread_main(int argc, char *argv[])
bool flag_system_armed = false;
bool man_yaw_zero_once = false;
/* prepare the handle for the failsafe throttle */
param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THROT");
float failsafe_throttle = 0.0f;
@ -233,7 +234,9 @@ mc_thread_main(int argc, char *argv[])
}
att_sp.thrust = manual.throttle;
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if(state.rc_signal_lost) {
/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
param_get(failsafe_throttle_handle, &failsafe_throttle);
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;