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ardrone in the air again (workaround: rate controller disabled)

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This commit is contained in:
Julian Oes
2012-09-25 21:35:02 +02:00
parent 0eae48d480
commit abbe998506
4 changed files with 35 additions and 8 deletions
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apps/ardrone_interface/ardrone_interface.c
+9 -2
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@@ -239,14 +239,15 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
//memset(&state, 0, sizeof(state));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
//memset(&actuator_controls, 0, sizeof(actuator_controls));
struct actuator_armed_s armed;
armed.armed = false;
/* subscribe to attitude, motor setpoints and system state */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
@@ -328,7 +329,13 @@ int ardrone_interface_thread_main(int argc, char *argv[])
* if in failsafe
*/
if (armed.armed && !armed.lockdown) {
//printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]);
ardrone_mixing_and_output(ardrone_write, &actuator_controls);
} else {
/* Silently lock down motor speeds to zero */
ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);