From 6039582928e199976074a4033336316c65737b66 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 22 Mar 2013 09:04:08 -0700 Subject: [PATCH] Compile error after merge fixed --- apps/controllib/fixedwing.cpp | 26 ++++++++++++-------------- 1 file changed, 12 insertions(+), 14 deletions(-) diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 9edb84723a..56b42253e6 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -345,23 +345,21 @@ void BlockMultiModeBacksideAutopilot::update() #warning should be base on flags } else if (_status.navigation_state == NAVIGATION_STATE_MANUAL) { -// if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { #warning fix the different manual modes - _actuators.control[CH_AIL] = _manual.roll; - _actuators.control[CH_ELV] = _manual.pitch; - _actuators.control[CH_RDR] = _manual.yaw; - _actuators.control[CH_THR] = _manual.throttle; -#warning please check whether this flag makes sense - } else if (_status.flag_control_attitude_enabled) { + _actuators.control[CH_AIL] = _manual.roll; + _actuators.control[CH_ELV] = _manual.pitch; + _actuators.control[CH_RDR] = _manual.yaw; + _actuators.control[CH_THR] = _manual.throttle; +#warning should be based on flags + } else if (_status.navigation_state == NAVIGATION_STATE_SEATBELT) { - _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); + _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, + _att.rollspeed, _att.pitchspeed, _att.yawspeed); - _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = _stabilization.getElevator(); - _actuators.control[CH_RDR] = _stabilization.getRudder(); - _actuators.control[CH_THR] = _manual.throttle; - } + _actuators.control[CH_AIL] = _stabilization.getAileron(); + _actuators.control[CH_ELV] = _stabilization.getElevator(); + _actuators.control[CH_RDR] = _stabilization.getRudder(); + _actuators.control[CH_THR] = _manual.throttle; } // update all publications