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Merge branch 'release_v1.0.0' of github.com:PX4/Firmware

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Lorenz Meier
2015-07-02 01:00:06 +02:00
parent 347e3e9a7e 10961aac0e
commit 234990fbe4
9 changed files with 91 additions and 43 deletions
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src/systemcmds/tests/test_mixer.cpp
+3 -3
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@@ -200,7 +200,7 @@ int test_mixer(int argc, char *argv[])
hrt_abstime starttime = hrt_absolute_time();
unsigned sleepcount = 0;
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) {
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
@@ -259,7 +259,7 @@ int test_mixer(int argc, char *argv[])
for (unsigned i = 0; i < mixed; i++) {
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
if (abs(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value");
return 1;
@@ -333,7 +333,7 @@ int test_mixer(int argc, char *argv[])
/* check post ramp phase */
if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
abs(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value");
return 1;