g

Signed-off-by: tnaegeli <naegelit@student.ethz.ch>

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -104,7 +104,7 @@ mc_thread_main(int argc, char *argv[])
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	//int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	// int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
+	int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
 
 	/* rate-limit the attitude subscription to 200Hz to pace our loop */
 	orb_set_interval(att_sub, 5);

apps/uORB/topics/ardrone_motors_setpoint.h

@@ -50,14 +50,14 @@
 
 struct ardrone_motors_setpoint_s
 {
-	uint16_t counter; //incremented by the writing thread everytime new data is stored
 	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
 
-	uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
-	uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
-	uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
-	uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
-
+	uint8_t group;	/**< quadrotor group */
+	uint8_t mode;	/**< requested flight mode XXX define */
+	float p1;		/**< parameter 1: rate control: roll rate, att control: roll angle (in radians, NED) */
+	float p2;		/**< parameter 2: rate control: pitch rate, att control: pitch angle (in radians, NED) */
+	float p3;		/**< parameter 3: rate control: yaw rate, att control: yaw angle (in radians, NED) */
+	float p4;		/**< parameter 4: thrust, [0..1] */
 }; /**< AR.Drone low level motors */
 
  /**
@@ -67,4 +67,4 @@ struct ardrone_motors_setpoint_s
 /* register this as object request broker structure */
 ORB_DECLARE(ardrone_motors_setpoint);
 
-#endif
+#endif-\

nuttx/configs/px4fmu/nsh/defconfig

@@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SERIAL_CONSOLE_REINIT=y
 
-CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_SERIAL_CONSOLE=n
 CONFIG_USART2_SERIAL_CONSOLE=n
 CONFIG_USART3_SERIAL_CONSOLE=n
 CONFIG_UART4_SERIAL_CONSOLE=n
-CONFIG_UART5_SERIAL_CONSOLE=n
+CONFIG_UART5_SERIAL_CONSOLE=y
 CONFIG_USART6_SERIAL_CONSOLE=n
 
 #Mavlink messages can be bigger than 128