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Code Issues Releases Activity

Small update to make ManualControl get the command after setting it. That way if the flight system isn't meant to overwrite it (i.e. flying via GCS) it uses the right value. I think this should actually be the default behavior of UAVObject set... awaiting feedback from Vassilis.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1214 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-05 19:56:36 +00:00 committed by peabody124
parent f4abfd12f0
commit 0eac218572
1 changed files with 5 additions and 1 deletions
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6
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -88,7 +88,7 @@ static void manualControlTask(void* parameters)
{
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS );
// Read settings
ManualControlSettingsGet(&settings);
StabilizationSettingsGet(&stabSettings);
@ -174,6 +174,10 @@ static void manualControlTask(void* parameters)
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// This seems silly to set then get, but the reason is if the GCS is
// the control input, the set command will be blocked by the read only
// setting and the get command will pull the right values from telemetry
ManualControlCommandGet(&cmd);
// Depending on the mode update the Stabilization or Actuator objects
if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )