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vtol: added timestamps for actuator controls message

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Roman
2015-12-24 10:18:24 +01:00
committed by Lorenz Meier
parent 7c3a67e374
commit 9d130653e1
3 changed files with 10 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+2
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@@ -282,6 +282,7 @@ void Standard::update_external_state()
void Standard::fill_actuator_outputs()
{
/* multirotor controls */
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight; // roll
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -292,6 +293,7 @@ void Standard::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight; // throttle
/* fixed wing controls */
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
* (1 - _mc_roll_weight); //roll
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =