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Reverse offboard changes in mc_att_control

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This commit is contained in:
Anton Babushkin
2014-01-23 17:53:55 +01:00
parent 0877fcba03
commit 3fe5e88fbe
1 changed files with 49 additions and 58 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
-9
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@@ -480,14 +480,6 @@ MulticopterAttitudeControl::task_main()
float yaw_sp_move_rate = 0.0f; float yaw_sp_move_rate = 0.0f;
bool publish_att_sp = false; bool publish_att_sp = false;
if (_control_mode.flag_control_offboard_enabled) {
/* offboard control */
// TODO set _att_sp or _rates_sp here depending on offboard control mode
// TODO _control_mode.flag_control_XXX flags are all false, set it according to ofboard control mode
// but it's not very beautiful, need to think how to do it better
} else {
/* onboard control */
/* define which input is the dominating control input */ /* define which input is the dominating control input */
if (_control_mode.flag_control_manual_enabled) { if (_control_mode.flag_control_manual_enabled) {
/* manual input */ /* manual input */
@@ -547,7 +539,6 @@ MulticopterAttitudeControl::task_main()
/* reset yaw setpoint after non-manual control */ /* reset yaw setpoint after non-manual control */
reset_yaw_sp = true; reset_yaw_sp = true;
} }
}
if (_att_sp.R_valid) { if (_att_sp.R_valid) {
/* rotation matrix in _att_sp is valid, use it */ /* rotation matrix in _att_sp is valid, use it */