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ardrone flying now (still workaround of disabled rates controller)

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This commit is contained in:
Julian Oes
2012-09-26 10:11:57 +02:00
parent abbe998506
commit 201fdbc42c
2 changed files with 11 additions and 8 deletions
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apps/sensors/sensors.cpp
+3 -1
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@@ -968,7 +968,7 @@ Sensors::ppm_poll()
_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
_rc.chan[i].scaled = -((_parameters.trim[i] - ppm_buffer[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
} else {
/* in the configured dead zone, output zero */
@@ -1029,6 +1029,8 @@ Sensors::ppm_poll()
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
// printf("SENSORS: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",manual_control.roll, manual_control.pitch, manual_control.yaw, manual_control.throttle);
}
#endif