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Merge branch 'master' into new_state_machine

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compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp
This commit is contained in:
Julian Oes
2013-07-08 10:31:32 +02:00
parent 76346bfe19 cf2dbdf9a1
commit 88389ea255
2165 changed files with 10906 additions and 485356 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensor_params.c
+4
View File
@@ -48,6 +48,10 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
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];
@@ -241,6 +242,7 @@ 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];
@@ -481,6 +483,9 @@ 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");
@@ -681,6 +686,9 @@ 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]));
@@ -968,11 +976,11 @@ 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))
@@ -1429,7 +1437,7 @@ 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,
@@ -1486,6 +1494,7 @@ int sensors_main(int argc, char *argv[])
}
}
errx(1, "unrecognized command");
warnx("unrecognized command");
return 1;
}