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Minor last tweaks

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This commit is contained in:
Lorenz Meier
2012-10-30 17:57:26 +01:00
parent 12e1cf3710
commit 56a0f14b34
1 changed files with 3 additions and 6 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+3 -6
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@@ -213,20 +213,17 @@ mc_thread_main(int argc, char *argv[])
state.flag_control_manual_enabled != flag_control_manual_enabled ||
state.flag_system_armed != flag_system_armed) {
att_sp.yaw_body = att.yaw;
man_yaw_zero_once = false;
}
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
if ((manual.yaw > -0.1f || 0.1f > manual.yaw)) {
man_yaw_zero_once = true;
}
/* only move setpoint if manual input is != 0 */
// XXX turn into param
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && man_yaw_zero_once) {
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.25f) {
att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
} else if (manual.throttle <= 0.25f) {
att_sp.yaw_body = att.yaw;
}
att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time();