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Changed from float to int16_t for HIL. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@938 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-26 09:09:07 +00:00
parent 001d831359
commit 929be190fd
2 changed files with 10 additions and 10 deletions
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16
libraries/APM_ADC/APM_ADC.cpp
View File

@ -162,10 +162,10 @@ int APM_ADC_HIL_Class::Ch(unsigned char ch_num)
} }
// Set one channel value // Set one channel value
int APM_ADC_HIL_Class::setHIL(float p, float q, float r, float gyroTemp, int APM_ADC_HIL_Class::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
float aX, float aY, float aZ, float diffPress) int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
{ {
static const float adcPerG = 418; static const uint16_t adcPerG = 418;
static const float gyroGainX = 0.4; static const float gyroGainX = 0.4;
static const float gyroGainY = 0.41; static const float gyroGainY = 0.41;
static const float gyroGainZ = 0.41; static const float gyroGainZ = 0.41;
@ -177,12 +177,12 @@ int APM_ADC_HIL_Class::setHIL(float p, float q, float r, float gyroTemp,
// TODO: map temp and press to raw // TODO: map temp and press to raw
// gyros // gyros
/* 0 */ adc_value[sensors[0]] = SENSOR_SIGN[0]* p/(gyroGainX*deg2rad) + 1665; // note apm says 1,2,0 gyro order, but /* 0 */ adc_value[sensors[0]] = SENSOR_SIGN[0]* p/(gyroGainX*deg2rad*1000) + 1665; // note apm says 1,2,0 gyro order, but
/* 1 */ adc_value[sensors[1]] = SENSOR_SIGN[1]* q/(gyroGainY*deg2rad) + 1665; // this says 0,1,2 /* 1 */ adc_value[sensors[1]] = SENSOR_SIGN[1]* q/(gyroGainY*deg2rad*1000) + 1665; // this says 0,1,2
/* 2 */ adc_value[sensors[2]] = SENSOR_SIGN[2]* r/(gyroGainZ*deg2rad) + 1665; /* 2 */ adc_value[sensors[2]] = SENSOR_SIGN[2]* r/(gyroGainZ*deg2rad*1000) + 1665;
// gyro temp // gyro temp
/* 3 */ adc_value[3] = SENSOR_SIGN[3]* 0; //gyroTemp; /* 3 */ adc_value[3] = SENSOR_SIGN[3]* gyroTemp; //gyroTemp XXX: fix scaling;
// accelerometers // accelerometers
/* 4 */ adc_value[sensors[3]] = SENSOR_SIGN[4]* (aX*adcPerG)/1.0e3 + 2025; /* 4 */ adc_value[sensors[3]] = SENSOR_SIGN[4]* (aX*adcPerG)/1.0e3 + 2025;
@ -190,5 +190,5 @@ int APM_ADC_HIL_Class::setHIL(float p, float q, float r, float gyroTemp,
/* 6 */ adc_value[sensors[5]] = SENSOR_SIGN[6]* (aZ*adcPerG)/1.0e3 + 2025; /* 6 */ adc_value[sensors[5]] = SENSOR_SIGN[6]* (aZ*adcPerG)/1.0e3 + 2025;
// differential pressure // differential pressure
/* 7 */ adc_value[7] = SENSOR_SIGN[7]* 0; //diffPress; /* 7 */ adc_value[7] = SENSOR_SIGN[7]* diffPress; //diffPress XXX: fix scaling;
} }

4
libraries/APM_ADC/APM_ADC.h
View File

@ -26,8 +26,8 @@ class APM_ADC_HIL_Class
APM_ADC_HIL_Class(); // Constructor APM_ADC_HIL_Class(); // Constructor
void Init(); void Init();
int Ch(unsigned char ch_num); int Ch(unsigned char ch_num);
int setHIL(float p, float q, float r, float gyroTemp, int setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
float aX, float aY, float aZ, float diffPress); int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress);
}; };
#endif #endif