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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-17 18:48:14 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-17 18:48:14 +0200 |
commit | 628e806df5b05ea8a44d46f29606db03fee1fce9 (patch) | |
tree | 079dbad62154c704a68ecfad92c4c3617bb44d4e | |
parent | 74802f0692ad61ef3995b2f05c7af043ab9fcaf3 (diff) | |
download | px4-firmware-628e806df5b05ea8a44d46f29606db03fee1fce9.tar.gz px4-firmware-628e806df5b05ea8a44d46f29606db03fee1fce9.tar.bz2 px4-firmware-628e806df5b05ea8a44d46f29606db03fee1fce9.zip |
Minor style changes
-rw-r--r-- | src/modules/sensors/sensors.cpp | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 7299b21bc..c47f6bb7d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -139,8 +139,8 @@ #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) /** - * Enum for board and external compass rotations - * copied from https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Math/rotations.h + * Enum for board and external compass rotations. + * This enum maps from board attitude to airframe attitude. */ enum Rotation { ROTATION_NONE = 0, @@ -261,8 +261,8 @@ private: int _mag_sub; /**< raw mag data subscription */ int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ - int _airspeed_sub; /**< airspeed subscription */ - int _diff_pres_sub; /**< raw differential pressure subscription */ + int _airspeed_sub; /**< airspeed subscription */ + int _diff_pres_sub; /**< raw differential pressure subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ @@ -282,8 +282,8 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; - math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ - math::Matrix _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ + math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ + math::Matrix _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ struct { float min[_rc_max_chan_count]; @@ -291,7 +291,6 @@ private: float max[_rc_max_chan_count]; float rev[_rc_max_chan_count]; float dz[_rc_max_chan_count]; - // float ex[_rc_max_chan_count]; float scaling_factor[_rc_max_chan_count]; float gyro_offset[3]; @@ -343,7 +342,6 @@ private: param_t max[_rc_max_chan_count]; param_t rev[_rc_max_chan_count]; param_t dz[_rc_max_chan_count]; - // param_t ex[_rc_max_chan_count]; param_t rc_type; param_t rc_demix; @@ -874,7 +872,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); - #else + #elif CONFIG_ARCH_BOARD_PX4FMU_V2 /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -882,6 +880,9 @@ Sensors::accel_init() /* set the driver to poll at 800Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 800); + #else + #error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 + #endif warnx("using system accel"); |