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Accomodating for offboard control setups

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Lorenz Meier
2012-10-22 16:08:48 +02:00
parent 64c5096c9f
commit ea36154e39
4 changed files with 61 additions and 41 deletions
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apps/multirotor_att_control/multirotor_rate_control.c
+2 -2
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@@ -181,8 +181,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
// (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
}
/* calculate current control outputs */