fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-05 00:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated C files for attitude estimator

Browse Source
This commit is contained in:
Lorenz Meier
2012-09-21 14:42:57 +02:00
parent eaa431e5ce
commit 8a11f76994
31 changed files with 52 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/mavlink/mavlink.c
+6 -6
View File
@@ -1077,8 +1077,8 @@ static void *uorb_receiveloop(void *arg)
if (fds[ifds++].revents & POLLIN) {
/* copy local position data into local buffer */
orb_copy(ORB_ID(manual_control_setpoint), subs->man_control_sp_sub, &buf.man_control);
mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll,
buf.man_control.pitch, buf.man_control.yaw, buf.man_control.throttle, 0);
mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll*1000,
buf.man_control.pitch*1000, buf.man_control.yaw*1000, buf.man_control.throttle*1000, 0);
}
/* --- ACTUATOR ARMED --- */
@@ -1427,10 +1427,10 @@ void handleMessage(mavlink_message_t *msg)
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
mc.roll = man.x;
mc.pitch = man.y;
mc.yaw = man.r;
mc.roll = man.z;
mc.roll = man.x*1000;
mc.pitch = man.y*1000;
mc.yaw = man.r*1000;
mc.roll = man.z*1000;
/* fake RC channels with manual control input from simulator */