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Fixing issue that arised after commit 1de769b6f2, compiles fine. Test flight needed.

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Dino Hensen
2013-06-09 22:20:29 +02:00
committed by Felix Ruess
parent 87abc4475d
commit d72934e88c
3 changed files with 14 additions and 9 deletions
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conf/firmwares/subsystems/rotorcraft/stabilization_passthrough.makefile
+1 -1
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@@ -1,5 +1,5 @@
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_NO_REF
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_TYPE_INT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_INT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_passthrough.h\"
STAB_ATT_SRCS = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_passthrough.c
STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_rc_setpoint.c
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
+12 -2
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@@ -23,8 +23,8 @@
* @file stabilization_attitude_passthrough.c
* @brief passthrough attitude stabilization
*
* This is usefull for instance when having an AC that has needs no
* stabilization because it is allready been done by other stabilization
* This is useful for instance when having an AC that has needs no
* stabilization because it is already been done by other stabilization
* software onboard or just does not need it at all.
*/
@@ -72,3 +72,13 @@ void stabilization_attitude_run(bool_t in_flight __attribute__ ((unused))) {
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void stabilization_attitude_set_failsafe_setpoint(void) {
stab_att_sp_euler.phi = 0;
stab_att_sp_euler.theta = 0;
stab_att_sp_euler.psi = stateGetNedToBodyEulers_i()->psi;
}
void stabilization_attitude_set_from_eulers_i(struct Int32Eulers *sp_euler) {
memcpy(&stab_att_sp_euler, sp_euler, sizeof(struct Int32Eulers));
}
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h
+1 -6
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@@ -23,11 +23,6 @@
#define STABILIZATION_ATTITUDE_PASSTHROUGH_H
#include "math/pprz_algebra_int.h"
#include "generated/airframe.h"
extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
#endif /* STABILIZATION_ATTITUDE_PASSTHROUGH_H */