fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 16:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

msg: re-use manual_control_input in setpoint

Browse Source 
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent baf81abbab
commit 6a6b8d49fc
21 changed files with 125 additions and 168 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/mixer_module/functions.cpp
+11 -11
View File
@@ -119,17 +119,17 @@ void FunctionManualRC::update()
manual_control_setpoint_s manual_control_setpoint;
if (_topic.update(&manual_control_setpoint)) {
_data[0] = manual_control_setpoint.y; // roll
_data[1] = manual_control_setpoint.x; // pitch
_data[2] = manual_control_setpoint.z * 2.f - 1.f; // throttle
_data[3] = manual_control_setpoint.r; // yaw
_data[4] = manual_control_setpoint.flaps;
_data[5] = manual_control_setpoint.aux1;
_data[6] = manual_control_setpoint.aux2;
_data[7] = manual_control_setpoint.aux3;
_data[8] = manual_control_setpoint.aux4;
_data[9] = manual_control_setpoint.aux5;
_data[10] = manual_control_setpoint.aux6;
_data[0] = manual_control_setpoint.chosen_input.y; // roll
_data[1] = manual_control_setpoint.chosen_input.x; // pitch
_data[2] = manual_control_setpoint.chosen_input.z * 2.f - 1.f; // throttle
_data[3] = manual_control_setpoint.chosen_input.r; // yaw
_data[4] = manual_control_setpoint.chosen_input.flaps;
_data[5] = manual_control_setpoint.chosen_input.aux1;
_data[6] = manual_control_setpoint.chosen_input.aux2;
_data[7] = manual_control_setpoint.chosen_input.aux3;
_data[8] = manual_control_setpoint.chosen_input.aux4;
_data[9] = manual_control_setpoint.chosen_input.aux5;
_data[10] = manual_control_setpoint.chosen_input.aux6;
}
}