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Map inputs to the controller we actually want

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This commit is contained in:
Lorenz Meier
2012-10-17 19:02:57 +02:00
parent d1429f266d
commit dff0051568
1 changed files with 2 additions and 4 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+2 -4
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@@ -195,7 +195,7 @@ mc_thread_main(int argc, char *argv[])
rates_sp.roll = manual.roll; rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch; rates_sp.pitch = manual.pitch;
rates_sp.yaw = att.yaw + manual.yaw * 2.0f; rates_sp.yaw = manual.yaw;
rates_sp.thrust = manual.throttle; rates_sp.thrust = manual.throttle;
//printf("rates\n"); //printf("rates\n");
rates_sp.timestamp = hrt_absolute_time(); rates_sp.timestamp = hrt_absolute_time();
@@ -204,9 +204,7 @@ mc_thread_main(int argc, char *argv[])
if (state.flag_control_attitude_enabled) { if (state.flag_control_attitude_enabled) {
att_sp.roll_body = manual.roll; att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch; att_sp.pitch_body = manual.pitch;
att_sp.yaw_body = manual.yaw; // XXX Hack, clean up att_sp.yaw_body = att.yaw + manual.yaw * -2.0f;
/* set yaw rate */
rates_sp.yaw = manual.yaw;
att_sp.thrust = manual.throttle; att_sp.thrust = manual.throttle;
att_sp.timestamp = hrt_absolute_time(); att_sp.timestamp = hrt_absolute_time();
} }