fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 16:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Debugging / fixing attitude aliasing

Browse Source
This commit is contained in:
Lorenz Meier
2012-09-17 10:13:15 +02:00
parent 6877a4b1a3
commit f5dea9a1a5
2 changed files with 9 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/multirotor_att_control/multirotor_att_control_main.c
+8 -4
View File
@@ -103,11 +103,15 @@ mc_thread_main(int argc, char *argv[])
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
//int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
// int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
/* rate-limit the attitude subscription to 200Hz to pace our loop */
orb_set_interval(att_sub, 5);
/*
* Do not rate-limit the loop to prevent aliasing
* if rate-limiting would be desired later, the line below would
* enable it.
*
* rate-limit the attitude subscription to 200Hz to pace our loop
* orb_set_interval(att_sub, 5);
*/
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
/* publish actuator controls */
apps/sensors/sensors.cpp
+1 -1
View File
@@ -1140,8 +1140,8 @@ Sensors::task_main()
raw.timestamp = hrt_absolute_time();
/* copy most recent sensor data */
accel_poll(raw);
gyro_poll(raw);
accel_poll(raw);
mag_poll(raw);
baro_poll(raw);