Mirrors_Framework/PX4-Autopilot
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Back out testing changes that are a bit too much ahead of time for master

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This commit is contained in:
Lorenz Meier
2012-10-04 16:38:11 +02:00
parent 67a2c8a173
commit 2fa0dec369
2 changed files with 13 additions and 13 deletions
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apps/commander/state_machine_helper.c
+6 -6
View File
@@ -503,8 +503,8 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true; //XXX
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = false;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -518,8 +518,8 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = false;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -533,8 +533,8 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = false;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
apps/multirotor_att_control/multirotor_att_control_main.c
+7 -7
View File
@@ -224,13 +224,13 @@ mc_thread_main(int argc, char *argv[])
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
// if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
// orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
// orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
// }
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
if (state.flag_control_rates_enabled) {