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make default apps compatible with autogenerated attitude and rc_channels message

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Thomas Gubler
2014-12-02 12:19:24 +01:00
parent 141dda2092
commit e28e8c11bb
7 changed files with 66 additions and 61 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -4
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@@ -73,6 +73,7 @@
#include <mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include <mavlink/mavlink_log.h>
#include <px4_defines.h>
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
@@ -1147,11 +1148,11 @@ MulticopterPositionControl::task_main()
/* thrust compensation for altitude only control mode */
float att_comp;
if (_att.R[2][2] > TILT_COS_MAX) {
att_comp = 1.0f / _att.R[2][2];
if (PX4_R(_att.R, 2, 2) > TILT_COS_MAX) {
att_comp = 1.0f / PX4_R(_att.R, 2, 2);
} else if (_att.R[2][2] > 0.0f) {
att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f;
} else if (PX4_R(_att.R, 2, 2) > 0.0f) {
att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * PX4_R(_att.R, 2, 2) + 1.0f;
saturation_z = true;
} else {