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Minor cleanups, added more error verbosity, XXX parameters get now read it at maximum sensors speed, needs to be waiting on a param change notice (but not on the vehicle status topic, as before.

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This commit is contained in:
Lorenz Meier 2012-08-27 17:24:17 +02:00
parent 97d9e67e67
commit b090298b12
3 changed files with 15 additions and 6 deletions
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2
apps/commander/state_machine_helper.c
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@ -522,7 +522,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
{
printf("in update state request\n");
printf("[commander] Requested new mode: %d\n", (int)mode);
uint8_t ret = 1;
/* vehicle is disarmed, mode requests arming */

8
apps/sensors/sensors.c
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@ -376,7 +376,9 @@ static int parameters_update(const struct sensor_parameter_handles *h, struct se
param_get(h->rc_map_pitch, &(p->rc_map_pitch));
param_get(h->rc_map_yaw, &(p->rc_map_yaw));
param_get(h->rc_map_throttle, &(p->rc_map_throttle));
param_get(h->rc_map_mode_sw, &(p->rc_map_mode_sw));
if (param_get(h->rc_map_mode_sw, &(p->rc_map_mode_sw)) != OK) {
warnx("Loading RC mode sw param failed.");
}
/* gyro offsets */
param_get(h->gyro_offset[0], &(p->gyro_offset[0]));
@ -394,7 +396,9 @@ static int parameters_update(const struct sensor_parameter_handles *h, struct se
param_get(h->mag_offset[2], &(p->mag_offset[2]));
/* scaling of ADC ticks to battery voltage */
param_get(h->battery_voltage_scaling, &(p->battery_voltage_scaling));
if (param_get(h->battery_voltage_scaling, &(p->battery_voltage_scaling)) != OK) {
warnx("Loading voltage scaling param failed.");
}
return OK;
}

11
apps/sensors/sensors.cpp
View File

@ -464,7 +464,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2]));
/* scaling of ADC ticks to battery voltage */
param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling));
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx("Failed updating voltage scaling param");
}
return OK;
}
@ -604,8 +606,8 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
accel_report.timestamp = hrt_absolute_time();
accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1];
accel_report.y_raw = (buf[0] == -32768) ? -32767 : buf[0];
accel_report.z_raw = (buf[2] == -32768) ? -32767 : buf[2];
accel_report.y_raw = buf[0];
accel_report.z_raw = buf[2];
const float range_g = 4.0f;
/* scale from 14 bit to m/s2 */
@ -721,7 +723,10 @@ Sensors::vehicle_status_poll()
_hil_enabled = false;
_publishing = true;
}
}
/* XXX run the param update more often right now */
{
/* update parameters */
parameters_update();