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fpvaspassion
2015-08-18 23:17:07 +02:00
committed by Lorenz Meier
parent e6ffa16125
commit 60be6a577f
6 changed files with 33 additions and 79 deletions
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src/modules/navigator/mission_block.cpp
+8 -4
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@@ -60,7 +60,9 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
_mission_item({0}),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0)
_time_first_inside_orbit(0),
_actuators{},
_actuator_pub(nullptr)
{
}
@@ -72,9 +74,11 @@ bool
MissionBlock::is_mission_item_reached()
{
if (_mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
//up_pwm_servo_arm(true);
//up_pwm_servo_set(_mission_item.actuator_num-1, _mission_item.actuator_value);
warnx("Set servo cmd executed");
_actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
_actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators);
warnx("Set servo cmd executed");
return true;
}