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Massive improvements in state machine, still tracing wrong throttle scaling in manual input path

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This commit is contained in:
Lorenz Meier
2012-08-13 18:53:37 +02:00
parent 56b3b46f75
commit 9014577aff
10 changed files with 268 additions and 167 deletions
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apps/sensors/Makefile
+1 -1
View File
@@ -37,6 +37,6 @@
APPNAME = sensors
PRIORITY = SCHED_PRIORITY_MAX-5
STACKSIZE = 2560
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/sensors/sensors.c
+5 -1
View File
@@ -398,7 +398,7 @@ int sensors_main(int argc, char *argv[])
int manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
if (manual_control_pub < 0) {
printf("[sensors] ERROR: orb_advertise for topic manual_control_setpoint failed.\n");
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic manual_control_setpoint failed.\n");
}
/* advertise the rc topic */
@@ -406,6 +406,10 @@ int sensors_main(int argc, char *argv[])
memset(&rc, 0, sizeof(rc));
int rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
if (rc_pub < 0) {
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic rc_channels failed.\n");
}
/* subscribe to system status */
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));