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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into thread/OP-816_Setup_Wizard_Revo_Support

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This commit is contained in:
Fredrik Arvidsson 2013-04-14 09:08:44 +02:00
commit 17b3b72158
1 changed files with 4 additions and 8 deletions
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12
flight/Modules/ManualControl/manualcontrol.c
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@ -697,11 +697,8 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool home) static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool home)
{ {
static portTickType lastSysTime; static portTickType lastSysTime;
portTickType thisSysTime; portTickType thisSysTime = xTaskGetTickCount();
float dT; /* float dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f; */
thisSysTime = xTaskGetTickCount();
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime; lastSysTime = thisSysTime;
if (home && changed) { if (home && changed) {
@ -738,16 +735,15 @@ static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool
pathDesired.EndingVelocity=0; pathDesired.EndingVelocity=0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT; pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
PathDesiredSet(&pathDesired); PathDesiredSet(&pathDesired);
/* Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
} else { } else {
/*Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
PathDesiredData pathDesired; PathDesiredData pathDesired;
PathDesiredGet(&pathDesired); PathDesiredGet(&pathDesired);
pathDesired.End[PATHDESIRED_END_NORTH] += dT * -cmd->Pitch; pathDesired.End[PATHDESIRED_END_NORTH] += dT * -cmd->Pitch;
pathDesired.End[PATHDESIRED_END_EAST] += dT * cmd->Roll; pathDesired.End[PATHDESIRED_END_EAST] += dT * cmd->Roll;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT; pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
PathDesiredSet(&pathDesired); PathDesiredSet(&pathDesired);
*/ */
} }
} }