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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 12:55:41 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 12:55:41 +0200 |
| commit | 082074f99196f8c936e21740a84b6738cb87875e (patch) | |
| tree | 92863b8532541d9dcfc8a160a7f659c5e1475b35 /apps/sensors/sensors.cpp | |
| parent | 572efc3383c6c98769efc65806a6d2e596787c4d (diff) | |
| download | px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.tar.gz px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.tar.bz2 px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.zip | |
Completely implemented offboard control
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index bd1b7b37d..eb22ac8a7 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -567,7 +567,7 @@ Sensors::accel_init() _fd_bma180 = open("/dev/bma180", O_RDONLY); if (_fd_bma180 < 0) { warn("/dev/bma180"); - errx(1, "FATAL: no accelerometer found"); + warn("FATAL: no accelerometer found"); } /* discard first (junk) reading */ @@ -600,7 +600,7 @@ Sensors::gyro_init() _fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY); if (_fd_gyro_l3gd20 < 0) { warn("/dev/l3gd20"); - errx(1, "FATAL: no gyro found"); + warn("FATAL: no gyro found"); } /* discard first (junk) reading */ @@ -988,6 +988,8 @@ Sensors::ppm_poll() _rc.chan_count = ppm_decoded_channels; _rc.timestamp = ppm_last_valid_decode; + manual_control.timestamp = ppm_last_valid_decode; + /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled; if (manual_control.roll < -1.0f) manual_control.roll = -1.0f; @@ -1090,7 +1092,7 @@ Sensors::task_main() /* advertise the manual_control topic */ { struct manual_control_setpoint_s manual_control; - manual_control.mode = ROLLPOS_PITCHPOS_YAWRATE_THROTTLE; + manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_RATE; manual_control.roll = 0.0f; manual_control.pitch = 0.0f; manual_control.yaw = 0.0f; |