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Minor fixes, pushing WIP

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Lorenz Meier
2012-12-29 11:00:15 +01:00
parent be85589e48
commit c652f718c0
6 changed files with 60 additions and 31 deletions
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apps/sensors/sensors.cpp
+1 -17
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@@ -1088,24 +1088,8 @@ Sensors::ppm_poll()
manual_control.timestamp = rc_input.timestamp;
// /* check if input needs to be de-mixed */
// if (_parameters.rc_demix == (int)RC_DEMIX_DELTA) {
// // XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS
// /* roll input - mixed roll and pitch channels */
// manual_control.roll = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled);
// pitch input - mixed roll and pitch channels
// manual_control.pitch = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled);
// /* yaw input - stick right is positive and positive rotation */
// manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled;
// /* throttle input */
// manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
// /* direct pass-through of manual input */
// } else {
/* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
/*
* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
* so reverse sign.