forked from Archive/PX4-Autopilot
parent
f23b1d2350
commit
9130976d9e
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@ -155,24 +155,6 @@ int parameters_update(const struct param_handles *h, struct params *p)
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void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
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struct actuator_controls_s *actuators)
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{
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//double r,p,y,t;
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//printf("vehicle_attitude_setpoint:\n");
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//print values only when they change to get less spam in console
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if((double)att_sp->roll_body > 0.0) { printf("att_sp->roll_body: %8.4f\n" , (double)att_sp->roll_body); }
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if((double)att_sp->pitch_body > 0.0) {printf("att_sp->pitch_body: %8.4f\n" , (double)att_sp->pitch_body); }
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if((double)att_sp->yaw_body > 0.0) { printf("att_sp->yaw_body: %8.4f\n" , (double)att_sp->yaw_body); }
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if((double)att_sp->thrust > 0.0) { printf("att_sp->throttle: %8.4f\n" , (double)att_sp->thrust); }
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// r = (double)att_sp->roll_body;
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// p = (double)att_sp->pitch_body;
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// y = (double)att_sp->yaw_body;
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// t = (double)att_sp->thrust;
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/*
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* The PX4 architecture provides a mixer outside of the controller.
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* The mixer is fed with a default vector of actuator controls, representing
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