fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 21:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'beta' into acro2

Browse Source
This commit is contained in:
Anton Babushkin
2014-02-02 22:45:46 +01:00
parent c3e803c04f 8de35025b5
commit dfd4dc3e6a
44 changed files with 127 additions and 231 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensors.cpp
+20 -19
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -639,37 +638,39 @@ Sensors::parameters_update()
if (!rc_valid)
warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
const char *paramerr = "FAIL PARM LOAD";
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx("Failed getting pitch chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx("Failed getting yaw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx("Failed getting throttle chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("Failed getting mode sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
warnx("Failed getting return sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx("Failed getting assisted sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
warnx("Failed getting mission sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
@@ -677,7 +678,7 @@ Sensors::parameters_update()
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("Failed getting flaps chan index");
warnx(paramerr);
}
// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@@ -750,12 +751,12 @@ Sensors::parameters_update()
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx("Failed updating voltage scaling param");
warnx(paramerr);
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx("Failed updating current scaling param");
warnx(paramerr);
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@@ -1664,17 +1665,17 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr)
errx(0, "sensors task already running");
errx(0, "already running");
sensors::g_sensors = new Sensors;
if (sensors::g_sensors == nullptr)
errx(1, "sensors task alloc failed");
errx(1, "alloc failed");
if (OK != sensors::g_sensors->start()) {
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
err(1, "sensors task start failed");
err(1, "start failed");
}
exit(0);
@@ -1682,7 +1683,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
if (sensors::g_sensors == nullptr)
errx(1, "sensors task not running");
errx(1, "not running");
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
@@ -1691,10 +1692,10 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (sensors::g_sensors) {
errx(0, "task is running");
errx(0, "is running");
} else {
errx(1, "task is not running");
errx(1, "not running");
}
}