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px4-firmware
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Committing WIP

This commit is contained in:
Lorenz Meier 2012-09-12 17:46:15 +02:00
parent 3536ad8010
commit ffceb37803
1 changed files with 8 additions and 5 deletions
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13
apps/sensors/sensors.cpp
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@ -992,8 +992,9 @@ Sensors::ppm_poll()
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
if (manual_control.roll > 1.0f) manual_control.roll = 1.0f;
if (!isnan(_parameters.rc_scale_roll) || isinf(_parameters.rc_scale_roll))
if (!isnan(_parameters.rc_scale_roll) || !isinf(_parameters.rc_scale_roll)) {
manual_control.roll *= _parameters.rc_scale_roll;
}
/*
* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
@ -1002,15 +1003,17 @@ Sensors::ppm_poll()
manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled;
if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f;
if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f;
if (!isnan(_parameters.rc_scale_pitch) || isinf(_parameters.rc_scale_pitch))
if (!isnan(_parameters.rc_scale_pitch) || !isinf(_parameters.rc_scale_pitch)) {
manual_control.pitch *= _parameters.rc_scale_pitch;
}
/* yaw input - stick right is positive and positive rotation */
manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw;
if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
if (!isnan(_parameters.rc_scale_yaw) || isinf(_parameters.rc_scale_yaw))
if (!isnan(_parameters.rc_scale_yaw) || !isinf(_parameters.rc_scale_yaw)) {
manual_control.yaw *= _parameters.rc_scale_yaw;
}
/* throttle input */
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
@ -1081,7 +1084,7 @@ Sensors::task_main()
parameter_update_poll(true /* forced */);
/* advertise the SENS_combined topic and make the initial publication */
/* advertise the sensor_combined topic and make the initial publication */
_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
/* advertise the manual_control topic */
@ -1169,7 +1172,7 @@ Sensors::start()
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = task_create("SENS_task",
_sensors_task = task_create("sensors_task",
SCHED_PRIORITY_MAX - 5,
4096, /* XXX may be excesssive */
(main_t)&Sensors::task_main_trampoline,