fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 21:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc att: more cleanup between base and main class

Browse Source
This commit is contained in:
Thomas Gubler
2014-12-05 09:29:57 +01:00
parent 85aa6554ad
commit 417bc91363
3 changed files with 20 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+10 -2
View File
@@ -38,6 +38,9 @@
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Roman Bapst <bapstr@ethz.ch>
*
* The controller has two loops: P loop for angular error and PD loop for angular rate error.
* Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
@@ -110,8 +113,10 @@ public:
int start();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
@@ -211,6 +216,9 @@ MulticopterAttitudeControl *g_control;
MulticopterAttitudeControl::MulticopterAttitudeControl() :
MulticopterAttitudeControlBase(),
_task_should_exit(false),
_control_task(-1),
_actuators_0_circuit_breaker_enabled(false),
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),