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Minor cleanup in position control skeleton

This commit is contained in:
Lorenz Meier 2012-11-05 22:13:55 +01:00
parent 706a7e4dd5
commit 976545861a
1 changed files with 4 additions and 2 deletions
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6
apps/multirotor_pos_control/multirotor_pos_control.c
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@ -196,12 +196,14 @@ multirotor_pos_control_thread_main(int argc, char *argv[])
float x_setpoint = 0.0f;
// XXX enable switching between Vicon and local position estimate
/* local pos is the Vicon position */
att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p * dT;
// XXX just an example, lacks rotation around world-body transformation
att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p;
att_sp.roll_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.4f;
att_sp.thrust = 0.3f;
att_sp.timestamp = hrt_absolute_time();
/* publish new attitude setpoint */