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commander: use new manual control setpoint variable names

This commit is contained in:
Thomas Gubler 2014-05-12 09:21:27 +02:00
parent d9333a1993
commit cde4c9addb
2 changed files with 7 additions and 7 deletions
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4
src/modules/commander/commander.cpp
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@ -1164,7 +1164,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.is_rotary_wing && if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
@ -1182,7 +1182,7 @@ int commander_thread_main(int argc, char *argv[])
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */ /* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == ARMING_STATE_STANDBY && if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first."); print_reject_arm("NOT ARMING: Press safety switch first.");

6
src/modules/commander/rc_calibration.cpp
View File

@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd)
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */ /* set parameters */
float p = sp.roll; float p = sp.y;
param_set(param_find("TRIM_ROLL"), &p); param_set(param_find("TRIM_ROLL"), &p);
p = sp.pitch; p = sp.x;
param_set(param_find("TRIM_PITCH"), &p); param_set(param_find("TRIM_PITCH"), &p);
p = sp.yaw; p = sp.r;
param_set(param_find("TRIM_YAW"), &p); param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */ /* store to permanent storage */