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Fixed to mag measurement and filter

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This commit is contained in:
Lorenz Meier
2012-09-07 16:56:47 +02:00
parent 297990fe35
commit c25cef299f
3 changed files with 6 additions and 23 deletions
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apps/drivers/hmc5883/hmc5883.cpp
+3 -3
View File
@@ -612,8 +612,8 @@ HMC5883::collect()
#pragma pack(push, 1) #pragma pack(push, 1)
struct { /* status register and data as read back from the device */ struct { /* status register and data as read back from the device */
uint8_t x[2]; uint8_t x[2];
uint8_t y[2];
uint8_t z[2]; uint8_t z[2];
uint8_t y[2];
} hmc_report; } hmc_report;
#pragma pack(pop) #pragma pack(pop)
struct { struct {
@@ -833,7 +833,7 @@ test()
err(1, "immediate read failed"); err(1, "immediate read failed");
warnx("single read"); warnx("single read");
warnx("measurement: %.6f %.6f %.6f", report.x, report.y, report.z); warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp); warnx("time: %lld", report.timestamp);
/* set the queue depth to 10 */ /* set the queue depth to 10 */
@@ -863,7 +863,7 @@ test()
err(1, "periodic read failed"); err(1, "periodic read failed");
warnx("periodic read %u", i); warnx("periodic read %u", i);
warnx("measurement: %.6f %.6f %.6f", report.x, report.y, report.z); warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp); warnx("time: %lld", report.timestamp);
} }
apps/mavlink/mavlink.c
+2 -19
View File
@@ -943,32 +943,15 @@ static void *uorb_receiveloop(void *arg)
/* Only send in HIL mode */ /* Only send in HIL mode */
if (mavlink_hil_enabled) { if (mavlink_hil_enabled) {
/* hacked HIL implementation in order for the APM Planner to work
* (correct cmd: mavlink_msg_hil_controls_send())
*/
mavlink_msg_rc_channels_scaled_send(chan,
hrt_absolute_time(),
0, // port 0
buf.att_sp.roll_body,
buf.att_sp.pitch_body,
buf.att_sp.thrust,
buf.att_sp.yaw_body,
0,
0,
0,
0,
1 /*rssi=1*/);
/* translate the current syste state to mavlink state and mode */ /* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0; uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0; uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
/* correct HIL message as per MAVLink spec */ /* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan, mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(), hrt_absolute_time(),
buf.att_sp.roll_body, buf.att_sp.roll_body, /* this may be replaced by ctrl0 later */
buf.att_sp.pitch_body, buf.att_sp.pitch_body,
buf.att_sp.yaw_body, buf.att_sp.yaw_body,
buf.att_sp.thrust, buf.att_sp.thrust,
apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+1 -1
View File
@@ -226,7 +226,7 @@ int attitude_estimator_bm_main(int argc, char *argv[])
att.timestamp = sensor_combined_s_local.timestamp; att.timestamp = sensor_combined_s_local.timestamp;
att.roll = euler.x; att.roll = euler.x;
att.pitch = euler.y; att.pitch = euler.y;
att.yaw = euler.z - M_PI_F; att.yaw = euler.z;
if (att.yaw > M_PI_F) { if (att.yaw > M_PI_F) {
att.yaw -= 2.0f * M_PI_F; att.yaw -= 2.0f * M_PI_F;