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General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still.

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Lorenz Meier
2012-09-23 01:20:41 +02:00
parent 8b951ec417
commit de530d6ba1
3 changed files with 48 additions and 23 deletions
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apps/mavlink/mavlink.c
+8 -8
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@@ -1415,10 +1415,10 @@ void handleMessage(mavlink_message_t *msg)
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.chan[0].raw = 1510 + man.x * 500;
rc_hil.chan[1].raw = 1520 + man.y * 500;
rc_hil.chan[2].raw = 1590 + man.r * 500;
rc_hil.chan[3].raw = 1420 + man.z * 500;
rc_hil.chan[0].raw = 1510 + man.x / 2;
rc_hil.chan[1].raw = 1520 + man.y / 2;
rc_hil.chan[2].raw = 1590 + man.r / 2;
rc_hil.chan[3].raw = 1420 + man.z / 2;
rc_hil.chan[0].scaled = man.x;
rc_hil.chan[1].scaled = man.y;
@@ -1428,10 +1428,10 @@ void handleMessage(mavlink_message_t *msg)
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
mc.roll = man.x*1000;
mc.pitch = man.y*1000;
mc.yaw = man.r*1000;
mc.roll = man.z*1000;
mc.roll = man.x / 1000.0f;
mc.pitch = man.y / 1000.0f;
mc.yaw = man.r / 1000.0f;
mc.roll = man.z / 1000.0f;
/* fake RC channels with manual control input from simulator */