forked from Archive/PX4-Autopilot
INAV: use int for outputs
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@ -535,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp()
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- _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0);
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_pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1)
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- _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1);
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mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
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mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1));
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}
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}
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@ -545,7 +545,7 @@ MulticopterPositionControl::reset_alt_sp()
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if (_reset_alt_sp) {
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_reset_alt_sp = false;
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_pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2);
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mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
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mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2));
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}
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}
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@ -389,8 +389,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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} else {
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wait_baro = false;
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baro_offset /= (float) baro_init_cnt;
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warnx("baro offs: %.2f", (double)baro_offset);
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mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset);
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warnx("baro offs: %d", (int)baro_offset);
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mavlink_log_info(mavlink_fd, "[inav] baro offs: %d", (int)baro_offset);
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local_pos.z_valid = true;
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local_pos.v_z_valid = true;
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}
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@ -520,7 +520,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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sonar_valid_time = t;
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sonar_valid = true;
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local_pos.surface_bottom_timestamp = t;
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mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset);
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mavlink_log_info(mavlink_fd, "[inav] new surface level: %d", (int)surface_offset);
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}
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} else {
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@ -721,8 +721,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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/* initialize projection */
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map_projection_init(&ref, lat, lon);
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warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
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mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt);
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// XXX replace this print
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warnx("init ref: lat=%.7f, lon=%.7f, alt=%8.4f", (double)lat, (double)lon, (double)alt);
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mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %8.4f", (double)lat, (double)lon, (double)alt);
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}
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}
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