fly316/PX4-Autopilot
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had the wrong variable and wrong setpoint type

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This commit is contained in:
andre-nguyen 2014-06-04 00:04:31 -04:00
parent e12d3af503
commit abbf57dac6
2 changed files with 8 additions and 7 deletions
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1
src/modules/mavlink/mavlink_receiver.cpp
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@ -379,6 +379,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
ml_armed = true;
break;
default:
break;

14
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -133,7 +133,7 @@ private:
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct offboard_control_setpoint_s _offboard_control_pos_sp; /**< offboard control position setpoint
struct vehicle_local_position_setpoint_s _offboard_control_pos_sp; /**< offboard control position setpoint */
struct {
@ -532,7 +532,7 @@ MulticopterPositionControl::task_main()
_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_offboard_control_pos_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
_offboard_control_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
parameters_update(true);
@ -676,15 +676,15 @@ MulticopterPositionControl::task_main()
orb_check(_offboard_control_pos_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), _offboard_control_pos_sp_sub,
orb_copy(ORB_ID(vehicle_local_position_setpoint), _offboard_control_pos_sp_sub,
&_offboard_control_pos_sp);
}
/* Hopefully no one dies from this */
pos(0) = _offboard_control_pos_sp.p1;
pos(1) = _offboard_control_pos_sp.p2;
pos(2) = _offboard_control_pos_sp.p4;
_att_sp.yaw_body = _offboard_control_pos_sp.p3;
_pos_sp(0) = _offboard_control_pos_sp.x;
_pos_sp(1) = _offboard_control_pos_sp.y;
_pos_sp(2) = _offboard_control_pos_sp.z;
_att_sp.yaw_body = _offboard_control_pos_sp.yaw;
} else {
/* AUTO */