forked from Archive/PX4-Autopilot
Merge release_v1.0.0 into master
This commit is contained in:
commit
c62ae87c69
|
@ -361,11 +361,14 @@ GPS::task_main()
|
|||
_report_gps_pos.timestamp_variance = hrt_absolute_time();
|
||||
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
|
||||
_report_gps_pos.timestamp_time = hrt_absolute_time();
|
||||
if (_report_gps_pos_pub != nullptr) {
|
||||
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
|
||||
|
||||
} else {
|
||||
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
|
||||
if (!(_pub_blocked)) {
|
||||
if (_report_gps_pos_pub != nullptr) {
|
||||
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
|
||||
|
||||
} else {
|
||||
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
|
||||
}
|
||||
}
|
||||
|
||||
// GPS is obviously detected successfully, reset statistics
|
||||
|
|
|
@ -1007,7 +1007,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
|
|||
* which makes the corner positions unreachable.
|
||||
* scale yaw up and clip it to overcome this.
|
||||
*/
|
||||
rc.values[2] = man.r / 1.5f + 1500;
|
||||
rc.values[2] = man.r / 1.2f + 1500;
|
||||
if (rc.values[2] > 2000) {
|
||||
rc.values[2] = 2000;
|
||||
} else if (rc.values[2] < 1000) {
|
||||
|
|
Loading…
Reference in New Issue