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Merge remote-tracking branch 'upstream/master' into ros

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Thomas Gubler
2014-11-05 12:56:38 +01:00
parent 6ecefe7930 25df841118
commit 53a40dc986
5 changed files with 69 additions and 3 deletions
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src/drivers/l3gd20/l3gd20.cpp
+8 -1
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@@ -176,6 +176,7 @@ static const int ERROR = -1;
#define L3G4200D_DEFAULT_RATE 800
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
#define L3GD20_TEMP_OFFSET_CELSIUS 40
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
@@ -856,7 +857,7 @@ L3GD20::measure()
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t temp;
int8_t temp;
uint8_t status;
int16_t x;
int16_t y;
@@ -930,6 +931,8 @@ L3GD20::measure()
report.z_raw = raw_report.z;
report.temperature_raw = raw_report.temp;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
@@ -938,6 +941,8 @@ L3GD20::measure()
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
// apply user specified rotation
rotate_3f(_rotation, report.x, report.y, report.z);
@@ -1091,9 +1096,11 @@ test()
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
src/lib/conversion/rotation.h
+3 -1
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@@ -74,6 +74,7 @@ enum Rotation {
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_ROLL_270_YAW_270 = 26,
ROTATION_MAX
};
@@ -109,7 +110,8 @@ const rot_lookup_t rot_lookup[] = {
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
{ 0, 270, 0 },
{270, 0, 270 }
};
/**
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -1396,7 +1396,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 40;
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
src/systemcmds/nshterm/module.mk
+2
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@@ -41,3 +41,5 @@ SRCS = nshterm.c
MODULE_STACKSIZE = 1600
MAXOPTIMIZATION = -Os
MODULE_PRIORITY = "SCHED_PRIORITY_DEFAULT-30"