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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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apps/sensors/sensors.cpp
+8 -3
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@@ -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();