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ardrone flying now (still workaround of disabled rates controller)

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This commit is contained in:
Julian Oes
2012-09-26 10:11:57 +02:00
parent abbe998506
commit 201fdbc42c
2 changed files with 11 additions and 8 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+8 -7
View File
@@ -127,8 +127,8 @@ static void *rate_control_thread_main(void *arg)
gyro_lp[1] = gyro_report.y;
gyro_lp[2] = gyro_report.z;
// multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
// orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// }
}
}
@@ -192,10 +192,10 @@ mc_thread_main(int argc, char *argv[])
/* ready, spawn pthread */
pthread_attr_t rate_control_attr;
pthread_attr_init(&rate_control_attr);
pthread_attr_setstacksize(&rate_control_attr, 2048);
pthread_t rate_control_thread;
pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
// pthread_attr_init(&rate_control_attr);
// pthread_attr_setstacksize(&rate_control_attr, 2048);
// pthread_t rate_control_thread;
// pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
while (!thread_should_exit) {
@@ -306,7 +306,7 @@ mc_thread_main(int argc, char *argv[])
perf_print_counter(mc_loop_perf);
perf_free(mc_loop_perf);
pthread_join(rate_control_thread, NULL);
//pthread_join(rate_control_thread, NULL);
fflush(stdout);
exit(0);
@@ -340,6 +340,7 @@ int multirotor_att_control_main(int argc, char *argv[])
default:
fprintf(stderr, "option: -%c\n", ch);
usage("unrecognized option");
break;
}
}
argc -= optioncount;
apps/sensors/sensors.cpp
+3 -1
View File
@@ -968,7 +968,7 @@ Sensors::ppm_poll()
_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
_rc.chan[i].scaled = -((_parameters.trim[i] - ppm_buffer[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
} else {
/* in the configured dead zone, output zero */
@@ -1029,6 +1029,8 @@ Sensors::ppm_poll()
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
// printf("SENSORS: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",manual_control.roll, manual_control.pitch, manual_control.yaw, manual_control.throttle);
}
#endif