Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 07:53:43 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

angles of ATTITUDE msg now in radian

Browse Source 
PERIODIC_SEND_CALIBRATION() fixed (when AGR_CLIMB is not defined)
This commit is contained in:
Pascal Brisset
2009-04-13 16:09:16 +00:00
parent 2602c315cb
commit 455d9ec8eb
1 changed files with 1 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/ap_downlink.h
+1 -8
View File
@@ -72,10 +72,7 @@
#define PERIODIC_SEND_ATTITUDE() Downlink({ \
int16_t phi = DegOfRad(estimator_phi); \
int16_t psi = DegOfRad(estimator_psi); \
int16_t theta = DegOfRad(estimator_theta); \
DOWNLINK_SEND_ATTITUDE(&phi, &psi, &theta); \
DOWNLINK_SEND_ATTITUDE(&estimator_phi, &estimator_psi, &estimator_theta); \
})
#define PERIODIC_SEND_PPRZ_MODE() DOWNLINK_SEND_PPRZ_MODE(&pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
@@ -118,11 +115,7 @@
#define PERIODIC_SEND_GYRO_RATES() {}
#endif
#ifdef AGR_CLIMB
#define PERIODIC_SEND_CALIBRATION() DOWNLINK_SEND_CALIBRATION(&v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode)
#else
#define PERIODIC_SEND_CALIBRATION() DOWNLINK_SEND_CALIBRATION(&v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_pgain, &h_ctl_course_pgain, &pprz_mode)
#endif
#define PERIODIC_SEND_CIRCLE() if (nav_in_circle) { DOWNLINK_SEND_CIRCLE(&nav_circle_x, &nav_circle_y, &nav_circle_radius); }