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Calibration should not freeze anymore, ardrone flying but estimator is not able to use calibrated magnetometer data

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This commit is contained in:
Julian Oes
2012-09-27 16:50:20 +02:00
parent a05c4d0504
commit 7f15309892
3 changed files with 23 additions and 38 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+5 -5
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@@ -193,10 +193,10 @@ mc_thread_main(int argc, char *argv[])
/* ready, spawn pthread */
pthread_attr_t rate_control_attr;
// pthread_attr_init(&rate_control_attr);
// pthread_attr_setstacksize(&rate_control_attr, 2048);
// pthread_t rate_control_thread;
// pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
pthread_attr_init(&rate_control_attr);
pthread_attr_setstacksize(&rate_control_attr, 2048);
pthread_t rate_control_thread;
pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
while (!thread_should_exit) {
@@ -310,7 +310,7 @@ mc_thread_main(int argc, char *argv[])
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
//pthread_join(rate_control_thread, NULL);
pthread_join(rate_control_thread, NULL);
fflush(stdout);
exit(0);