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Merged master into ekf_params

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This commit is contained in:
Lorenz Meier
2014-04-26 15:19:21 +02:00
parent ad1be765bf 4a949a9565
commit 5ad3ff95bf
6 changed files with 26 additions and 19 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+2
View File
@@ -40,6 +40,7 @@
*/
#include "attitude_estimator_ekf_params.h"
#include <math.h>
/* Extended Kalman Filter covariances */
@@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->yaw_off, &(p->yaw_off));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI / 180.0f;
param_get(h->acc_comp, &(p->acc_comp));
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+4 -4
View File
@@ -837,21 +837,21 @@ FixedwingEstimator::task_main()
case 1:
{
const char* str = "NaN in states, resetting";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 2:
{
const char* str = "stale IMU data, resetting";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 3:
{
const char* str = "switching to dynamic state";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
@@ -859,7 +859,7 @@ FixedwingEstimator::task_main()
default:
{
const char* str = "unknown reset condition";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
}
}
src/modules/sensors/sensors.cpp
+10 -10
View File
@@ -627,31 +627,31 @@ Sensors::parameters_update()
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
@@ -659,7 +659,7 @@ Sensors::parameters_update()
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@@ -725,12 +725,12 @@ Sensors::parameters_update()
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));