Changed the heli spinup to commands.

paparazzi · Aug 23, 2016 · abee7b1 · abee7b1
1 parent 6f1d8f0
commit abee7b1
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -355,7 +355,7 @@ void guidance_v_run(bool in_flight)
         gv_update_ref_from_z_sp(guidance_v_z_sp);
         run_hover_loop(in_flight);
 #if HYBRID_NAVIGATION
-      guidance_hybrid_vertical();
+        guidance_hybrid_vertical();
 #endif
       } else if (vertical_mode == VERTICAL_MODE_CLIMB) {
         guidance_v_z_sp = stateGetPositionNed_i()->z;

diff --git a/sw/airborne/modules/nav/nav_heli_spinup.c b/sw/airborne/modules/nav/nav_heli_spinup.c
@@ -35,9 +35,9 @@ void nav_heli_spinup_setup(uint16_t duration, float throttle)
   nav_heli_spinup.throttle = throttle * MAX_PPRZ;
 
   nav_throttle = 0;
-  nav_roll = 0;
-  nav_pitch = 0;
-  nav_heading = 0;
+  nav_cmd_roll = 0;
+  nav_cmd_pitch = 0;
+  nav_cmd_yaw = 0;
   horizontal_mode = HORIZONTAL_MODE_MANUAL;
   vertical_mode = VERTICAL_MODE_MANUAL;
 }
@@ -48,9 +48,9 @@ bool nav_heli_spinup_run(void)
     return false;
   }
 
-  nav_roll = 0;
-  nav_pitch = 0;
-  nav_heading = 0;
+  nav_cmd_roll = 0;
+  nav_cmd_pitch = 0;
+  nav_cmd_yaw = 0;
   horizontal_mode = HORIZONTAL_MODE_MANUAL;
   vertical_mode = VERTICAL_MODE_MANUAL;
   nav_throttle = stage_time * nav_heli_spinup.throttle / nav_heli_spinup.duration;