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commander, multirotor_att_control, position_estimator_inav: position valid flag fixed, other fixes and cleaunup

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Anton Babushkin
2013-08-17 12:37:41 +02:00
parent c543f89ec1
commit 2be5240b9f
3 changed files with 74 additions and 85 deletions
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src/modules/multirotor_att_control/multirotor_att_control_main.c
+13 -7
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@@ -367,14 +367,20 @@ mc_thread_main(int argc, char *argv[])
}
/* apply controller */
float gyro[3];
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, gyro, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
float rates[3];
rates[0] = att.rollspeed;
rates[1] = att.pitchspeed;
rates[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, rates, &actuators);
} else {
/* rates controller disabled, set actuators to zero for safety */
actuators.control[0] = 0.0f;
actuators.control[1] = 0.0f;
actuators.control[2] = 0.0f;
actuators.control[3] = 0.0f;
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
/* update state */
flag_control_attitude_enabled = control_mode.flag_control_attitude_enabled;