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Reverted change to src/modules/mc_pos_control/mc_pos_control_main.cpp

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-21 12:24:16 -08:00
committed by Julian Oes
parent 4c7ec2b0ff
commit 267158751e
1 changed files with 0 additions and 11 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-11
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@@ -993,10 +993,6 @@ void MulticopterPositionControl::control_auto(float dt)
} }
if (current_setpoint_valid) { if (current_setpoint_valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* scaled space: 1 == position error resulting max allowed speed */ /* scaled space: 1 == position error resulting max allowed speed */
math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here
@@ -1191,13 +1187,6 @@ MulticopterPositionControl::task_main()
poll_subscriptions(); poll_subscriptions();
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_yaw = euler_angles(2);
parameters_update(false); parameters_update(false);
hrt_abstime t = hrt_absolute_time(); hrt_abstime t = hrt_absolute_time();