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Fix a bug where the rate controller is always active

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This commit is contained in:
Lorenz Meier 2012-09-26 22:25:39 +02:00
parent f93464e64f
commit ec3949bf82
1 changed files with 9 additions and 5 deletions
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14
apps/multirotor_att_control/multirotor_att_control_main.c
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@ -79,6 +79,8 @@ static bool motor_test_mode = false;
static struct actuator_controls_s actuators;
static orb_advert_t actuator_pub;
static struct vehicle_status_s state;
/**
* Perform rate control right after gyro reading
*/
@ -118,7 +120,7 @@ static void *rate_control_thread_main(void *arg)
/* perform local lowpass */
/* apply controller */
// if (state.flag_control_rates_enabled) {
if (state.flag_control_rates_enabled) {
/* lowpass gyros */
// XXX
gyro_lp[0] = gyro_report.x;
@ -127,7 +129,7 @@ static void *rate_control_thread_main(void *arg)
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// }
}
}
}
@ -138,7 +140,6 @@ static int
mc_thread_main(int argc, char *argv[])
{
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
@ -201,7 +202,11 @@ mc_thread_main(int argc, char *argv[])
perf_begin(mc_loop_perf);
/* get a local copy of system state */
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
bool updated;
orb_check(state_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
}
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
/* get a local copy of attitude */
@ -209,7 +214,6 @@ mc_thread_main(int argc, char *argv[])
/* get a local copy of attitude setpoint */
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
/* get a local copy of rates setpoint */
bool updated;
orb_check(setpoint_sub, &updated);
if (updated) {
orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);