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Fixed GPS lost issue, fixed accel scale initialization, fixed code style in rate controller

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This commit is contained in:
Lorenz Meier
2012-10-08 17:59:43 +02:00
parent 1318a0b954
commit dd50c88f07
4 changed files with 10 additions and 9 deletions
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apps/gps/ubx.c
+2
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@@ -781,6 +781,8 @@ void *ubx_watchdog_loop(void *args)
} else {
/* gps healthy */
ubx_success_count++;
ubx_healthy = true;
ubx_fail_count = 0;
if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
apps/multirotor_att_control/multirotor_rate_control.c
+3 -4
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@@ -166,18 +166,17 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch-rates[1]);
float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]);
/* control roll (left/right) output */
float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0] );
float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]);
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2] );
float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw - rates[2]);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
apps/sensors/sensor_params.c
+3 -3
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@@ -56,9 +56,9 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 0.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
nuttx/configs/px4fmu/nsh/defconfig
+2 -2
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@@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
CONFIG_SERIAL_TERMIOS=y
CONFIG_SERIAL_CONSOLE_REINIT=y
CONFIG_USART1_SERIAL_CONSOLE=n
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART2_SERIAL_CONSOLE=n
CONFIG_USART3_SERIAL_CONSOLE=n
CONFIG_UART4_SERIAL_CONSOLE=n
CONFIG_UART5_SERIAL_CONSOLE=y
CONFIG_UART5_SERIAL_CONSOLE=n
CONFIG_USART6_SERIAL_CONSOLE=n
#Mavlink messages can be bigger than 128