fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 16:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'upstream/master'

Browse Source
This commit is contained in:
Jean Cyr
2013-07-07 14:29:30 -04:00
parent 7a6a786708 cf2dbdf9a1
commit 35711280df
2150 changed files with 10656 additions and 485207 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensors.cpp
+14 -5
View File
@@ -194,6 +194,7 @@ private:
float scaling_factor[_rc_max_chan_count];
float gyro_offset[3];
float gyro_scale[3];
float mag_offset[3];
float mag_scale[3];
float accel_offset[3];
@@ -245,6 +246,7 @@ private:
param_t rc_demix;
param_t gyro_offset[3];
param_t gyro_scale[3];
param_t accel_offset[3];
param_t accel_scale[3];
param_t mag_offset[3];
@@ -490,6 +492,9 @@ Sensors::Sensors() :
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
_parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF");
_parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE");
_parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE");
_parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE");
/* accel offsets */
_parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF");
@@ -703,6 +708,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2]));
param_get(_parameter_handles.gyro_scale[0], &(_parameters.gyro_scale[0]));
param_get(_parameter_handles.gyro_scale[1], &(_parameters.gyro_scale[1]));
param_get(_parameter_handles.gyro_scale[2], &(_parameters.gyro_scale[2]));
/* accel offsets */
param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0]));
@@ -995,11 +1003,11 @@ Sensors::parameter_update_poll(bool forced)
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
_parameters.gyro_offset[0],
1.0f,
_parameters.gyro_scale[0],
_parameters.gyro_offset[1],
1.0f,
_parameters.gyro_scale[1],
_parameters.gyro_offset[2],
1.0f,
_parameters.gyro_scale[2],
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
@@ -1457,7 +1465,7 @@ Sensors::start()
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = task_spawn("sensors_task",
_sensors_task = task_spawn_cmd("sensors_task",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
@@ -1514,6 +1522,7 @@ int sensors_main(int argc, char *argv[])
}
}
errx(1, "unrecognized command");
warnx("unrecognized command");
return 1;
}