fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 08:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw_att_control: workaround, don't publish to actuator_1

Browse Source
This commit is contained in:
Julian Oes
2014-03-29 20:37:58 +01:00
parent 947b09a120
commit 5e51812c8b
1 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
+12 -12
View File
@@ -832,18 +832,18 @@ FixedwingAttitudeControl::task_main()
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
}
if (_actuators_1_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);
} else {
/* advertise and publish */
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
}
// if (_actuators_1_pub > 0) {
// /* publish the attitude setpoint */
// orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
//// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
//// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
//// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
//// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);
//
// } else {
// /* advertise and publish */
// _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
// }
}