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| author | px4dev <px4@purgatory.org> | 2013-01-19 13:17:28 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-19 13:17:28 -0800 |
| commit | c1a1207b9a8636b136197b2b92bbf914f7a928cc (patch) | |
| tree | 702e4d46cefd1edf6aa1e4ba1b4d6a2e4d5d52ff /apps/mavlink | |
| parent | 7eb7836d2db3fa30b65f5ae72054b3fdc3582a6c (diff) | |
| parent | effc3001f4bcc5a2e2510ee5d16e44b1e8188911 (diff) | |
| download | px4-firmware-c1a1207b9a8636b136197b2b92bbf914f7a928cc.tar.gz px4-firmware-c1a1207b9a8636b136197b2b92bbf914f7a928cc.tar.bz2 px4-firmware-c1a1207b9a8636b136197b2b92bbf914f7a928cc.zip | |
Merge pull request #171 from PX4/fault_detection
Attitude / position estimation and controller improvements
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 19 | ||||
| -rw-r--r-- | apps/mavlink/orb_listener.c | 2 |
2 files changed, 13 insertions, 8 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index fa63c419f..9491ce7e3 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -318,9 +318,11 @@ handle_message(mavlink_message_t *msg) static uint16_t hil_frames = 0; static uint64_t old_timestamp = 0; + /* sensors general */ + hil_sensors.timestamp = imu.time_usec; + /* hil gyro */ static const float mrad2rad = 1.0e-3f; - hil_sensors.timestamp = timestamp; hil_sensors.gyro_counter = hil_counter; hil_sensors.gyro_raw[0] = imu.xgyro; hil_sensors.gyro_raw[1] = imu.ygyro; @@ -367,8 +369,8 @@ handle_message(mavlink_message_t *msg) hil_frames += 1 ; // output - if ((timestamp - old_timestamp) > 1000000) { - printf("receiving hil imu at %d hz\n", hil_frames); + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil imu at %d hz\n", hil_frames/10); old_timestamp = timestamp; hil_frames = 0; } @@ -412,8 +414,8 @@ handle_message(mavlink_message_t *msg) hil_frames += 1 ; // output - if ((timestamp - old_timestamp) > 1000000) { - printf("receiving hil gps at %d hz\n", hil_frames); + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil gps at %d hz\n", hil_frames/10); old_timestamp = timestamp; hil_frames = 0; } @@ -429,6 +431,9 @@ handle_message(mavlink_message_t *msg) static uint16_t hil_frames = 0; static uint64_t old_timestamp = 0; + /* sensors general */ + hil_sensors.timestamp = press.time_usec; + /* baro */ /* TODO, set ground_press/ temp during calib */ static const float ground_press = 1013.25f; // mbar @@ -454,8 +459,8 @@ handle_message(mavlink_message_t *msg) hil_frames += 1 ; // output - if ((timestamp - old_timestamp) > 1000000) { - printf("receiving hil pressure at %d hz\n", hil_frames); + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil pressure at %d hz\n", hil_frames/10); old_timestamp = timestamp; hil_frames = 0; } diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 8920714ef..ec5149745 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -718,7 +718,7 @@ uorb_receive_start(void) /* --- GLOBAL POS VALUE --- */ mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */ + orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */ /* --- LOCAL POS VALUE --- */ mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); |