aepko/Ardupilot2
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Merge branch 'Jacob' of https://github.com/jaxxzer/ardupilot into jaxxzer-Jacob

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This commit is contained in:
Rustom Jehangir 2016-01-08 20:17:26 -08:00
commit e05b0c3929
9 changed files with 19 additions and 7 deletions
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6
ArduSub/ArduSub.cpp
View File

@ -261,8 +261,10 @@ void Copter::fast_loop()
// run low level rate controllers that only require IMU data
attitude_control.rate_controller_run();
motors.set_forward(channel_forward->control_in);
motors.set_strafe(channel_strafe->control_in);
// moved this to update in control_acro.cpp, control_stabilize.cpp ...
// motors.set_forward(channel_forward->control_in);
// motors.set_strafe(channel_strafe->control_in);
#if FRAME_CONFIG == HELI_FRAME
update_heli_control_dynamics();

5
ArduSub/control_acro.cpp
View File

@ -47,6 +47,11 @@ void Copter::acro_run()
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->radio_in);
motors.set_strafe(channel_strafe->radio_in);
}

5
ArduSub/control_althold.cpp
View File

@ -158,4 +158,9 @@ void Copter::althold_run()
pos_control.update_z_controller();
break;
}
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->radio_in);
motors.set_strafe(channel_strafe->radio_in);
}

5
ArduSub/control_stabilize.cpp
View File

@ -57,4 +57,9 @@ void Copter::stabilize_run()
// output pilot's throttle
attitude_control.set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->radio_in);
motors.set_strafe(channel_strafe->radio_in);
}

1
modules/PX4Firmware

@ -1 +0,0 @@
Subproject commit 8048e542599a89acd72fff2fce831a8012201a96

1
modules/PX4NuttX

@ -1 +0,0 @@
Subproject commit d48fa3072b2396c489966c4ab10183ac7cf3dea9

1
modules/gbenchmark

@ -1 +0,0 @@
Subproject commit 006d23ccca1375a973b7fae0cc351cedb41b812a

1
modules/uavcan

@ -1 +0,0 @@
Subproject commit 6dd432c9742c22e1dd1638c7f91cf937e4bdb2f1

1
modules/waf vendored

@ -1 +0,0 @@
Subproject commit d2ade00ef86f5024317ef48ae0e30cff51c8f3dd