Ignore:
Timestamp:
02/15/18 16:44:23 (4 years ago)
Author:
Sanahuja Guillaume
Message:

maj

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairMeta/src/UavStateMachine.cpp

    r214 r216  
    9090  uZ->AddDeviceToLog(uYaw);
    9191
    92     joy=new MetaDualShock3("uav high level controller",controller);
    93     uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
     92  joy=new MetaDualShock3("uav high level controller",controller);
     93  uav->GetAhrs()->AddPlot(joy->GetReferenceOrientation(),DataPlot::Blue);
    9494
    9595  altitudeMode = AltitudeMode_t::Manual;
     
    484484    joy->SetZRef(0);
    485485
    486     uZ->SetDefaultOffset(); // positionne l'offset de compensation de la gravité à sa
    487                      // valeur initiale (station sol)
     486    uZ->Reset();
     487    uRoll->Reset();
     488    uPitch->Reset();
     489    uYaw->Reset();
    488490
    489491    uav->GetUavMultiplex()->LockUserInterface();
     
    569571  uav->GetAhrs()->UnlockUserInterface();
    570572
    571   uZ->SetValues(0, 0);
    572573  uZ->Reset();
     574  uRoll->Reset();
     575  uPitch->Reset();
     576  uYaw->Reset();
    573577}
    574578
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