yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

correctly hooked up setpoints in fixed wing control app, pending validation

Browse Source
This commit is contained in:
Lorenz Meier
2012-09-10 00:18:52 +02:00
parent ddb5ba221d
commit 246f8fd3bd
1 changed files with 6 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
apps/fixedwing_control/fixedwing_control.c
View File

@@ -133,8 +133,8 @@ typedef struct {
/* Next waypoint*/
float wp_x;
float wp_y;
double wp_x;
double wp_y;
float wp_z;
/* Setpoints */
@@ -349,9 +349,6 @@ static void get_parameters(plane_data_t * pdata)
param_get(att_awu, &(pdata->intmax_att));
param_get(pos_awu, &(pdata->intmax_pos));
pdata->airspeed = 10;
pdata->wp_x = 48;
pdata->wp_y = 8;
pdata->wp_z = 100;
pdata->mode = 1;
}
@@ -686,7 +683,6 @@ int fixedwing_control_main(int argc, char *argv[])
/* output structs */
struct actuator_controls_s actuators;
struct actuator_armed_s armed;
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
@@ -694,8 +690,6 @@ int fixedwing_control_main(int argc, char *argv[])
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
actuators.control[i] = 0.0f;
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
armed.armed = false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
/* Subscribe to global position, attitude and rc */
@@ -771,6 +765,10 @@ int fixedwing_control_main(int argc, char *argv[])
plane_data.pitchspeed = att.pitchspeed;
plane_data.yawspeed = att.yawspeed;
plane_data.wp_x = global_setpoint.lat / (double)1e7;
plane_data.wp_y = global_setpoint.lon / (double)1e7;
plane_data.wp_z = global_setpoint.altitude;
/* parameter values */
if (loopcounter % 20 == 0) {
get_parameters(&plane_data);
@@ -841,10 +839,6 @@ int fixedwing_control_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
/* publish actuator setpoints (for mixer) */
/* arming state depends on commander arming state */
armed.armed = state.flag_system_armed;
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
loopcounter++;