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Attitude viz message and no_rc takeoff for indi (#2108)

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This commit is contained in:
Ewoud Smeur
2017-08-25 19:05:07 +02:00
committed by Gautier Hattenberger
parent f400d5748f
commit b9ea500f78
2 changed files with 16 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+1 -1
View File
@@ -378,7 +378,7 @@ static void stabilization_indi_calc_cmd(struct Int32Quat *att_err, bool rate_con
g2_times_du = g2_times_du / INDI_G_SCALING;
float v_thrust = 0.0;
if (indi_thrust_increment_set) {
if (indi_thrust_increment_set && in_flight) {
v_thrust = indi_thrust_increment;
//update thrust command such that the current is correctly estimated
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+15
View File
@@ -135,6 +135,20 @@ static void send_att_indi(struct transport_tx *trans, struct link_device *dev)
&g1_disp.r,
&g2_disp);
}
static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
{
struct Int32Quat *quat = stateGetNedToBodyQuat_i();
pprz_msg_send_AHRS_REF_QUAT(trans, dev, AC_ID,
&stab_att_sp_quat.qi,
&stab_att_sp_quat.qx,
&stab_att_sp_quat.qy,
&stab_att_sp_quat.qz,
&(quat->qi),
&(quat->qx),
&(quat->qy),
&(quat->qz));
}
#endif
void stabilization_indi_init(void)
@@ -144,6 +158,7 @@ void stabilization_indi_init(void)
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE_INDI, send_att_indi);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_REF_QUAT, send_ahrs_ref_quat);
#endif
}