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px4-firmware
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left debug output active to allow finishing off this issue

This commit is contained in:
Lorenz Meier 2012-08-28 22:48:00 +02:00
parent 5b81a51a82
commit a1963805e7
1 changed files with 15 additions and 7 deletions
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22
apps/sensors/sensors.cpp
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@ -174,10 +174,10 @@ private:
struct rc_channels_s _rc; /**< r/c channel data */
struct {
int min[_rc_max_chan_count];
int trim[_rc_max_chan_count];
int max[_rc_max_chan_count];
int rev[_rc_max_chan_count];
float min[_rc_max_chan_count];
float trim[_rc_max_chan_count];
float max[_rc_max_chan_count];
float rev[_rc_max_chan_count];
float gyro_offset[3];
float mag_offset[3];
@ -347,8 +347,13 @@ Sensors::Sensors() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
{
_parameter_handles.min[0] = param_find("RC1_MIN");
_parameter_handles.max[0] = param_find("RC1_MAX");
_parameter_handles.trim[0] = param_find("RC1_TRIM");
_parameter_handles.rev[0] = param_find("RC1_REV");
/* basic r/c parameters */
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
for (unsigned i = 1; i < _rc_max_chan_count; i++) {
char nbuf[16];
/* min values */
@ -841,10 +846,13 @@ Sensors::parameter_update_poll(bool forced)
_rc.function[3] = _parameters.rc_map_yaw - 1;
_rc.function[4] = _parameters.rc_map_mode_sw - 1;
printf("RAW S: %8.4f MID: %d R: %d P: %d\n", _rc.chan[0].scaling_factor, (int)_rc.chan[0].mid, (int)_rc.function[0], (int)_rc.function[1]);
printf("RAW MAN: %8.4f %8.4f\n", _rc.chan[0].scaled, _rc.chan[1].scaled);
#if 1
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*100), (int)(_rc.chan[0].mid*100), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*100), (int)(_rc.chan[1].mid*100), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100));
fflush(stdout);
usleep(5000);
#endif
}
}