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Merge branch 'ekf_params' of github.com:PX4/Firmware

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Lorenz Meier
2014-05-15 13:14:25 +02:00
parent 97e6090700 ec409a1337
commit ba51ab2545
20 changed files with 3362 additions and 3745 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+4 -4
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@@ -783,7 +783,7 @@ FixedwingAttitudeControl::task_main()
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body);
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body);
}
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -792,16 +792,16 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", yaw_u);
warnx("yaw_u %.4f", (double)yaw_u);
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
warnx("throttle_sp %.4f", throttle_sp);
warnx("throttle_sp %.4f", (double)throttle_sp);
}
} else {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp);
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
/*