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Merge branch 'master' into offboard2_merge

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Conflicts:
	src/modules/uORB/topics/rc_channels.h
This commit is contained in:
Julian Oes
2014-07-02 15:15:26 +02:00
parent fdceb8b062 f428ebb04f
commit 73d6121a9d
89 changed files with 1952 additions and 1167 deletions
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src/modules/sensors/sensors.cpp
+15 -15
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@@ -656,7 +656,7 @@ Sensors::parameters_update()
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f)) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
@@ -1238,9 +1238,9 @@ Sensors::parameter_update_poll(bool forced)
}
#if 0
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100));
fflush(stdout);
usleep(5000);
#endif
@@ -1330,7 +1330,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
* a valid voltage from a connected sensor. Also assume a non-
* zero offset from the sensor if its connected.
*/
if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) {
if (voltage > 0.4f && (_parameters.diff_pres_analog_enabled > 0)) {
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
@@ -1370,7 +1370,7 @@ float
Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
float value = _rc.channels[_rc.function[func]];
if (value < min_value) {
return min_value;
@@ -1391,7 +1391,7 @@ switch_pos_t
Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
@@ -1412,7 +1412,7 @@ switch_pos_t
Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
@@ -1504,25 +1504,25 @@ Sensors::rc_poll()
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
_rc.chan[i].scaled = 0.0f;
_rc.channels[i] = 0.0f;
}
_rc.chan[i].scaled *= _parameters.rev[i];
_rc.channels[i] *= _parameters.rev[i];
/* handle any parameter-induced blowups */
if (!isfinite(_rc.chan[i].scaled)) {
_rc.chan[i].scaled = 0.0f;
if (!isfinite(_rc.channels[i])) {
_rc.channels[i] = 0.0f;
}
}
_rc.chan_count = rc_input.channel_count;
_rc.channel_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;