Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 01:53:48 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[fix] update EFF_MAT_STAB message error (#3633)
Issues due date / Add labels to issues (push) Has been cancelled
Details
Doxygen / build (push) Has been cancelled
Details

Browse Source 
abusing admin rules to fix master branch
This commit is contained in:
Gautier Hattenberger
2026-04-03 23:10:37 +02:00
committed by GitHub
parent 8217738ed4
commit a625c75e70
4 changed files with 22 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
-1
View File
@@ -499,7 +499,6 @@ static void send_eff_mat_stab_oneloop_andi(struct transport_tx *trans, struct li
ANDI_NUM_ACT, EFF_MAT_RW[3],
ANDI_NUM_ACT, EFF_MAT_RW[4],
ANDI_NUM_ACT, EFF_MAT_RW[5],
1, &zero,
1, &zero);
}
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_andi.c
+1 -3
View File
@@ -425,13 +425,11 @@ static void send_wls_u_stabilization_andi(struct transport_tx *trans, struct lin
static void send_eff_mat_stabilization_andi(struct transport_tx *trans, struct link_device *dev)
{
float zero = 0.0f;
pprz_msg_send_EFF_MAT_STAB(trans, dev, AC_ID,
ANDI_NUM_ACT, &ce_mat[0 * ANDI_NUM_ACT],
ANDI_NUM_ACT, &ce_mat[1 * ANDI_NUM_ACT],
ANDI_NUM_ACT, &ce_mat[2 * ANDI_NUM_ACT],
ANDI_NUM_ACT, &ce_mat[3 * ANDI_NUM_ACT],
1, &zero);
ANDI_NUM_ACT, &ce_mat[3 * ANDI_NUM_ACT]);
}
static void send_stab_attitude_stabilization_andi(struct transport_tx *trans, struct link_device *dev)
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+20 -1
View File
@@ -347,8 +347,27 @@ static void send_eff_mat_g_indi(struct transport_tx *trans, struct link_device *
INDI_NUM_ACT, g1g2[0],
INDI_NUM_ACT, g1g2[1],
INDI_NUM_ACT, g1g2[2],
INDI_NUM_ACT, g1g2[3],
INDI_NUM_ACT, g2_est);
#if INDI_OUTPUTS <= 5
float zero = 0;
#endif
#if INDI_OUTPUTS > 3
pprz_msg_send_EFF_MAT_STAB_THRUST(trans, dev, AC_ID,
#if INDI_OUTPUTS == 4
1, &zero,
1, &zero,
INDI_NUM_ACT, g1g2[3]
#elif INDI_OUTPUTS == 5
INDI_NUM_ACT, g1g2[4],
1, &zero,
INDI_NUM_ACT, g1g2[3]
#elif INDI_OUTPUTS == 6
INDI_NUM_ACT, g1g2[3],
INDI_NUM_ACT, g1g2[4],
INDI_NUM_ACT, g1g2[5]
#endif
);
#endif
}
static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+1 -3
View File
@@ -169,13 +169,11 @@ static void send_eff_mat_g_indi_simple(struct transport_tx *trans, struct link_d
struct FloatRates g1_disp;
RATES_SMUL(g1_disp, indi.est.g1, INDI_EST_SCALE);
float g2_disp = indi.est.g2 * INDI_EST_SCALE;
float zero = 0.0;
pprz_msg_send_EFF_MAT_STAB(trans, dev, AC_ID,
1, &g1_disp.p,
1, &g1_disp.q,
1, &g1_disp.r,
1, &g2_disp,
1, &zero);
1, &g2_disp);
}
static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)