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Fixed a max value in the AR.Drone interface

This commit is contained in:
Lorenz Meier 2012-09-26 22:16:57 +02:00
parent cbb1f1c9ed
commit d7456e61ff
3 changed files with 6 additions and 3 deletions
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2
apps/ardrone_interface/ardrone_interface.c
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@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch> * Author: Lorenz Meier <lm@inf.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions

4
apps/ardrone_interface/ardrone_motor_control.c
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@ -306,7 +306,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
return errcounter; return errcounter;
} }
/* /**
* Sets the leds on the motor controllers, 1 turns led on, 0 off. * Sets the leds on the motor controllers, 1 turns led on, 0 off.
*/ */
void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green) void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green)
@ -370,7 +370,7 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
const float min_thrust = 0.02f; /**< 2% minimum thrust */ const float min_thrust = 0.02f; /**< 2% minimum thrust */
const float max_thrust = 1.0f; /**< 100% max thrust */ const float max_thrust = 1.0f; /**< 100% max thrust */
const float scaling = 512.0f; /**< 100% thrust equals a value of 512 */ const float scaling = 500.0f; /**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */
const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */ const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */
const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */ const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */

3
apps/ardrone_interface/ardrone_motor_control.h
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@ -87,4 +87,7 @@ int ar_init_motors(int ardrone_uart, int gpio);
*/ */
void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green); void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green);
/**
* Mix motors and output actuators
*/
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators); void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators);