本文整理汇总了C++中ECL_YawController::closeFile方法的典型用法代码示例。如果您正苦于以下问题：C++ ECL_YawController::closeFile方法的具体用法？C++ ECL_YawController::closeFile怎么用？C++ ECL_YawController::closeFile使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ECL_YawController的用法示例。
在下文中一共展示了ECL_YawController::closeFile方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: sizeof
//.........这里部分代码省略.........
if (!PX4_ISFINITE(yaw_u)) {
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was
* detected */
_actuators.control[3] = (PX4_ISFINITE(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
if (!PX4_ISFINITE(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_rate();
_rates_sp.pitch = _pitch_ctrl.get_desired_rate();
_rates_sp.yaw = _yaw_ctrl.get_desired_rate();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control;
_actuators.control[5] = _manual.aux1;
_actuators.control[6] = _manual.aux2;
_actuators.control[7] = _manual.aux3;
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* Only publish if any of the proper modes are enabled */
if(_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled)
{
/* publish the actuator controls */
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub != nullptr) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
warnx("exiting.\n");
_roll_ctrl.closeFile();
_pitch_ctrl.closeFile();
_yaw_ctrl.closeFile();
_control_task = -1;
_task_running = false;
}