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This commit is contained in:
Antoine Drouin
2007-10-26 16:44:04 +00:00
parent 08e098e7b0
commit 2a306db761
4 changed files with 16 additions and 1 deletions
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sw/airborne/booz_autopilot.c
+4
View File
@@ -23,6 +23,10 @@ void booz_autopilot_periodic_task(void) {
booz_control_attitude_run();
SetCommands(booz_control_commands);
break;
case BOOZ_AP_MODE_NAV:
booz_control_nav_run();
SetCommands(booz_control_commands);
break;
}
}
sw/airborne/booz_autopilot.h
+1 -1
View File
@@ -19,6 +19,6 @@ extern void booz_autopilot_event_task(void);
#define BOOZ_AP_MODE_OF_PPRZ(mode) \
((mode) < TRESHOLD_RATE_PPRZ ? BOOZ_AP_MODE_RATE : \
(mode) < TRESHOLD_ATTITUDE_PPRZ ? BOOZ_AP_MODE_ATTITUDE : \
BOOZ_AP_MODE_ATTITUDE )
BOOZ_AP_MODE_NAV )
#endif /* BOOZ_AUTOPILOT_H */
sw/airborne/booz_control.c
+9
View File
@@ -132,3 +132,12 @@ void booz_control_attitude_run(void) {
}
void booz_control_nav_run(void) {
booz_control_commands[COMMAND_P] = 0;
booz_control_commands[COMMAND_Q] = 0;
booz_control_commands[COMMAND_R] = 0;
booz_control_commands[COMMAND_THROTTLE] = 0;
}
sw/airborne/booz_control.h
+2
View File
@@ -12,6 +12,8 @@ extern void booz_control_rate_run(void);
extern void booz_control_attitude_compute_setpoints(void);
extern void booz_control_attitude_run(void);
extern void booz_control_nav_run(void);
extern float booz_control_p_sp;
extern float booz_control_q_sp;
extern float booz_control_r_sp;