Changeset 216 in flair-src for trunk/lib/FlairMeta/src

Timestamp:

Feb 15, 2018, 4:44:23 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

maj

File:

• trunk/lib/FlairMeta/src/UavStateMachine.cpp (modified) (3 diffs)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -90 +90 @@
   uZ->AddDeviceToLog(uYaw);
 
-    joy=new MetaDualShock3("uav high level controller",controller);
-    uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
+  joy=new MetaDualShock3("uav high level controller",controller);
+  uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
 
   altitudeMode = AltitudeMode_t::Manual;
@@ -484 +484 @@
     joy->SetZRef(0);
 
-    uZ->SetDefaultOffset(); // positionne l'offset de compensation de la gravité à sa
-                     // valeur initiale (station sol)
+    uZ->Reset();
+    uRoll->Reset();
+    uPitch->Reset();
+    uYaw->Reset();
 
     uav->GetUavMultiplex()->LockUserInterface();
@@ -569 +571 @@
   uav->GetAhrs()->UnlockUserInterface();
 
-  uZ->SetValues(0, 0);
   uZ->Reset();
+  uRoll->Reset();
+  uPitch->Reset();
+  uYaw->Reset();
 }