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[bebop] send low level commands if INDI_COMMANDS is defined

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Gautier Hattenberger
2026-03-20 23:40:20 +01:00
parent a5e551d336
commit 41572358f3
1 changed files with 16 additions and 4 deletions
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sw/airborne/boards/bebop/actuators.c
+16 -4
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@@ -36,13 +36,25 @@
#include "modules/datalink/telemetry.h"
#include "firmwares/rotorcraft/stabilization.h"
#ifdef STABILIZATION_INDI_COMMANDS
static uint8_t act_to_commands[INDI_NUM_ACT] = STABILIZATION_INDI_COMMANDS;
#endif
static void send_bebop_actuators(struct transport_tx *trans, struct link_device *dev)
{
#ifdef STABILIZATION_INDI_COMMANDS
int32_t cmd0 = commands[act_to_commands[0]];
int32_t cmd1 = commands[act_to_commands[1]];
int32_t cmd2 = commands[act_to_commands[2]];
int32_t cmd3 = commands[act_to_commands[3]];
#else
int32_t cmd0 = stabilization.cmd[COMMAND_THRUST];
int32_t cmd1 = stabilization.cmd[COMMAND_ROLL];
int32_t cmd2 = stabilization.cmd[COMMAND_PITCH];
int32_t cmd3 = stabilization.cmd[COMMAND_YAW];
#endif
pprz_msg_send_BEBOP_ACTUATORS(trans, dev, AC_ID,
&stabilization.cmd[COMMAND_THRUST],
&stabilization.cmd[COMMAND_ROLL],
&stabilization.cmd[COMMAND_PITCH],
&stabilization.cmd[COMMAND_YAW],
&cmd0, &cmd1, &cmd2, &cmd3,
&actuators_bebop.rpm_ref[0],
&actuators_bebop.rpm_ref[1],
&actuators_bebop.rpm_ref[2],