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params debugging

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This commit is contained in:
Lorenz Meier 2012-08-28 13:56:39 +02:00
parent d8210a8e2f
commit fa32184973
2 changed files with 40 additions and 15 deletions
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8
apps/commander/commander.c
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@ -746,12 +746,12 @@ float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage
initialized = true;
}
float chemistry_voltage_empty[1];
float chemistry_voltage_full[1];
float chemistry_voltage_empty[1] = { 3.2f };
float chemistry_voltage_full[1] = { 4.05f };
if (counter % 100 == 0) {
param_get(bat_volt_empty, chemistry_voltage_empty+0);
param_get(bat_volt_full, chemistry_voltage_full+0);
param_get(bat_volt_empty, &(chemistry_voltage_empty[0]));
param_get(bat_volt_full, &(chemistry_voltage_full[0]));
}
counter++;

47
apps/sensors/sensors.cpp
View File

@ -428,33 +428,53 @@ Sensors::parameters_update()
/* min values */
for (unsigned int i = 0; i < nchans; i++) {
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
warnx("Failed getting min for chan %d", i);
}
}
/* trim values */
for (unsigned int i = 0; i < nchans; i++) {
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
warnx("Failed getting trim for chan %d", i);
}
}
/* max values */
for (unsigned int i = 0; i < nchans; i++) {
param_get(_parameter_handles.max[i], &(_parameters.max[i]));
if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
warnx("Failed getting max for chan %d", i);
}
}
/* channel reverse */
for (unsigned int i = 0; i < nchans; i++) {
param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
warnx("Failed getting rev for chan %d", i);
}
}
/* remote control type */
param_get(_parameter_handles.rc_type, &(_parameters.rc_type));
if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
warnx("Failed getting remote control type");
}
/* channel mapping */
param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll));
param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch));
param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw));
param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle));
param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw));
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx("Failed getting pitch chan index");
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx("Failed getting yaw chan index");
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx("Failed getting throttle chan index");
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("Failed getting mode sw chan index");
}
/* gyro offsets */
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
@ -820,6 +840,11 @@ Sensors::parameter_update_poll()
_rc.function[2] = _parameters.rc_map_pitch - 1;
_rc.function[3] = _parameters.rc_map_yaw - 1;
_rc.function[4] = _parameters.rc_map_mode_sw - 1;
printf("RAW S: %8.4f MID: %d R: %d P: %d\n", _rc.chan[0].scaling_factor, (int)_rc.chan[0].mid, (int)_rc.function[0], (int)_rc.function[1]);
printf("RAW MAN: %8.4f %8.4f\n", _rc.chan[0].scaled, _rc.chan[1].scaled);
fflush(stdout);
usleep(5000);
}
}
@ -870,7 +895,7 @@ Sensors::ppm_poll()
if (_ppm_last_valid == ppm_last_valid_decode)
return;
/* require at least two chanels to consider the signal valid */
if (ppm_decoded_channels < 2)
if (ppm_decoded_channels < 4)
return;
/* we are accepting this decode */