dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

make sure vtol attitude control module is started with idle speed set for multicopter mode

This commit is contained in:
Roman Bapst 2014-12-04 17:36:16 +01:00
parent 692af62885
commit 590489d498
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -202,7 +202,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{ {
flag_idle_mc = true; /*assume we always start in mc mode for a VTOL airframe */ flag_idle_mc = true;
memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status)); memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/ _vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/
@ -520,7 +520,11 @@ void VtolAttitudeControl::task_main()
_actuator_inputs_mc = orb_subscribe(ORB_ID(actuator_controls_virtual_mc)); _actuator_inputs_mc = orb_subscribe(ORB_ID(actuator_controls_virtual_mc));
_actuator_inputs_fw = orb_subscribe(ORB_ID(actuator_controls_virtual_fw)); _actuator_inputs_fw = orb_subscribe(ORB_ID(actuator_controls_virtual_fw));
parameters_update(); /*initialize parameter cache/* parameters_update(); // initialize parameter cache
// make sure we start with idle in mc mode
set_idle_mc();
flag_idle_mc = true;
/* wakeup source*/ /* wakeup source*/
struct pollfd fds[3]; /*input_mc, input_fw, parameters*/ struct pollfd fds[3]; /*input_mc, input_fw, parameters*/