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px4-firmware
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mag cal, scaling of throttle

This commit is contained in:
Lorenz Meier 2012-08-16 13:33:16 +02:00
parent b30e443f28
commit e95662f505
3 changed files with 8 additions and 8 deletions
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2
apps/ardrone_control/ardrone_control.c
View File

@ -236,7 +236,7 @@ int ardrone_control_main(int argc, char *argv[])
state.state_machine == SYSTEM_STATE_AUTO || state.state_machine == SYSTEM_STATE_AUTO ||
state.state_machine == SYSTEM_STATE_MISSION_ABORT || state.state_machine == SYSTEM_STATE_MISSION_ABORT ||
state.state_machine == SYSTEM_STATE_EMCY_LANDING) { state.state_machine == SYSTEM_STATE_EMCY_LANDING) {
att_sp.thrust = manual.throttle/2.0f; att_sp.thrust = manual.throttle;
} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) { } else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
/* immediately cut off motors */ /* immediately cut off motors */

10
apps/commander/commander.c
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@ -306,8 +306,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
calibration_counter++; calibration_counter++;
} else { } else {
/* any poll failure for 1s is a reason to abort */ /* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry."); //mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
break; //break;
} }
} }
@ -376,9 +376,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]); printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]);
float mag_offset[3]; float mag_offset[3];
mag_offset[0] = (max_avg[0] - min_avg[0])/2; mag_offset[0] = (max_avg[0] - min_avg[0]);
mag_offset[1] = (max_avg[1] - min_avg[1])/2; mag_offset[1] = (max_avg[1] - min_avg[1]);
mag_offset[2] = (max_avg[2] - min_avg[2])/2; mag_offset[2] = (max_avg[2] - min_avg[2]);
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET] = mag_offset[0]; global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET] = mag_offset[0];
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET] = mag_offset[1]; global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET] = mag_offset[1];

4
apps/sensors/sensors.c
View File

@ -759,9 +759,9 @@ int sensors_main(int argc, char *argv[])
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f; if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
/* throttle input */ /* throttle input */
manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled; manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled/2.0f;
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
if (manual_control.throttle > 2.0f) manual_control.throttle = 2.0f; if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
/* mode switch input */ /* mode switch input */
manual_control.override_mode_switch = rc.chan[rc.function[OVERRIDE]].scaled; manual_control.override_mode_switch = rc.chan[rc.function[OVERRIDE]].scaled;