fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 06:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vtol: added timestamps for actuator controls message

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+2
View File
@@ -384,6 +384,7 @@ void Tiltrotor::update_external_state()
*/
void Tiltrotor::fill_actuator_outputs()
{
_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;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -400,6 +401,7 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];;
}
_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);
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =