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Blimp: Use PosControl fixes

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Leonard Hall 2021-04-30 23:38:10 +09:30 committed by Andrew Tridgell
parent 4bae8f03a4
commit c91fdcea72
2 changed files with 4 additions and 4 deletions
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4
Blimp/GCS_Mavlink.cpp
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@ -134,11 +134,11 @@ void GCS_MAVLINK_Blimp::send_position_target_global_int()
// target_pos = blimp.wp_nav->get_wp_destination() * 0.01f; // convert to metres // target_pos = blimp.wp_nav->get_wp_destination() * 0.01f; // convert to metres
// } else if (guided_mode == Guided_Velocity) { // } else if (guided_mode == Guided_Velocity) {
// type_mask = 0x0FC7; // ignore everything except velocity // type_mask = 0x0FC7; // ignore everything except velocity
// target_vel = blimp.flightmode->get_desired_velocity() * 0.01f; // convert to m/s // target_vel = blimp.flightmode->get_vel_desired_cms() * 0.01f; // convert to m/s
// } else { // } else {
// type_mask = 0x0FC0; // ignore everything except position & velocity // type_mask = 0x0FC0; // ignore everything except position & velocity
// target_pos = blimp.wp_nav->get_wp_destination() * 0.01f; // target_pos = blimp.wp_nav->get_wp_destination() * 0.01f;
// target_vel = blimp.flightmode->get_desired_velocity() * 0.01f; // target_vel = blimp.flightmode->get_vel_desired_cms() * 0.01f;
// } // }
// mavlink_msg_position_target_local_ned_send( // mavlink_msg_position_target_local_ned_send(

4
Blimp/mode.h
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@ -124,10 +124,10 @@ public:
// altitude fence // altitude fence
float get_avoidance_adjusted_climbrate(float target_rate); float get_avoidance_adjusted_climbrate(float target_rate);
// const Vector3f& get_desired_velocity() { // const Vector3f& get_vel_desired_cms() {
// // note that position control isn't used in every mode, so // // note that position control isn't used in every mode, so
// // this may return bogus data: // // this may return bogus data:
// return pos_control->get_desired_velocity(); // return pos_control->get_vel_desired_cms();
// } // }
protected: protected: