C++ (Cpp) intermcu_set_actuators示例

示例#1

文件： main.c 项目： selimnuhoglu/paparazzi

STATIC_INLINE void main_periodic(void)
{

#if USE_IMU
  imu_periodic();
#endif

  //FIXME: temporary hack, remove me
#ifdef InsPeriodic
  InsPeriodic();
#endif

  /* run control loops */
  autopilot_periodic();
  /* set actuators     */
  //actuators_set(autopilot_motors_on);
#ifndef INTER_MCU_AP
  SetActuatorsFromCommands(commands, autopilot_mode);
#else
  intermcu_set_actuators(commands, autopilot_mode);
#endif

  if (autopilot_in_flight) {
    RunOnceEvery(PERIODIC_FREQUENCY, autopilot_flight_time++);
  }

#if defined DATALINK || defined SITL
  RunOnceEvery(PERIODIC_FREQUENCY, datalink_time++);
#endif

  RunOnceEvery(10, LED_PERIODIC());
}

示例#2

文件： main.c 项目： paparazzi/paparazzi

STATIC_INLINE void main_periodic(void)
{
#if INTER_MCU_AP
    /* Inter-MCU watchdog */
    intermcu_periodic();
#endif

    /* run control loops */
    autopilot_periodic();
    /* set actuators     */
    //actuators_set(autopilot_motors_on);
#ifndef INTER_MCU_AP
    SetActuatorsFromCommands(commands, autopilot_mode);
#else
    intermcu_set_actuators(commands, autopilot_mode);
#endif

    if (autopilot_in_flight) {
        RunOnceEvery(PERIODIC_FREQUENCY, autopilot_flight_time++);
    }

#if defined DATALINK || defined SITL
    RunOnceEvery(PERIODIC_FREQUENCY, datalink_time++);
#endif

    RunOnceEvery(10, LED_PERIODIC());
}