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Increased priority of MAVLink receiver thread

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Lorenz Meier
2012-10-17 10:38:23 +02:00
parent 32e586d4b7
commit 5d3d17d025
3 changed files with 7 additions and 2 deletions
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apps/multirotor_att_control/multirotor_attitude_control.c
+1 -1
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@@ -248,7 +248,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
att->roll, att->rollspeed, deltaT)*1/10.0f;
/* control yaw rate */
//float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f;
rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body));
rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body));