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Back out testing changes that are a bit too much ahead of time for master

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Lorenz Meier
2012-10-04 16:38:11 +02:00
parent 67a2c8a173
commit 2fa0dec369
2 changed files with 13 additions and 13 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+7 -7
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@@ -224,13 +224,13 @@ mc_thread_main(int argc, char *argv[])
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
// if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
// orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
// orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
// }
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
if (state.flag_control_rates_enabled) {